Distributed backstepping based control of multiple UAV formation flight subject to time delays
DOI10.1049/IET-CTA.2019.1151zbMATH Open1544.9355MaRDI QIDQ6598792FDOQ6598792
Authors: Yusuf Barış Kartal, Kamesh Subbarao, Nicholas Gans, Atilla Dogan, Frank L. Lewis 
Publication date: 5 September 2024
Published in: IET Control Theory \& Applications (Search for Journal in Brave)
stabilityadaptive controlcascade controldistributed controllinear systemsmathematical modelcommunication networkdirected graphdirected graphsnonlinear control systemsdelaysLyapunov methodsmobile robotsstability criteriamultiple unmanned aerial vehiclesattitude controlclosed-loop stabilityposition controlcontrol algorithmspropellersstability criterionclosed loop systemsmulti-robot systemscontrol system synthesisdelay-independentautonomous aerial vehiclesLyapunov-Krasovskii analysisactual flight test experimentsbackstepping-based outer position controller designcascaded control systemcentralised formation controldistributed backstepping based controldistributed backstepping structuredistributed formation control methoddistributed network time delaysinner attitude controllerlinear attitude control loopmultiple UAV formation flightnonlinear position control loop
Automated systems (robots, etc.) in control theory (93C85) Delay control/observation systems (93C43) Multi-agent systems (93A16)
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