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- Title
Decentralized modular hybrid supervisory control for the formation of unmanned helicopters.
- Authors
Karimoddini, Ali; Karimadini, Mohammad; Lin, Hai
- Abstract
Formation control of Unmanned Aerial Vehicles (UAVs) requires them to tightly cooperate to reach and keep the formation, while avoiding collision. This paper proposes a novel decentralized hybrid supervisory control approach for the formation control of multiple UAVs. This is achieved by developing a symbolic motion planning technique to polarly partition the motion space resulting in a finite state discrete event model for the motion dynamics of each UAV. Then, a modular discrete supervisor is designed for different components of the formation mission including reaching the formation, keeping the formation, and collision avoidance. Further, for the collision avoidance mechanism, a novel top‐down decomposition‐based approach is developed to design local supervisors decentralizedly. It is formally proved that with the proposed top‐down decomposition‐based approach, the (locally) supervised UAVs, as a whole, can cooperatively satisfy the desired (global) collision avoidance specification. The proposed decentralized supervisory control algorithm is also verified through a hardware‐in‐the‐loop simulator for the formation control of unmanned helicopters.
- Subjects
SUPERVISORY control systems; HELICOPTERS; DRONE aircraft; PLANNING techniques
- Publication
IET Control Theory & Applications (Wiley-Blackwell), 2023, Vol 17, Issue 2, p210
- ISSN
1751-8644
- Publication type
Article
- DOI
10.1049/cth2.12375