Formation control of multiple autonomous vehicle systems

253 Pages·2018·16.845 MB·English

by  Liu, Hugh H. T., Zhu, Bo

FormationControlofMultiple
AutonomousVehicleSystems
Formation Control of Multiple Autonomous
Vehicle Systems
HughH.T.Liu
UniversityofToronto
Toronto,Canada
BoZhu
UniversityofElectronicScienceandTechnologyofChina
Chengdu,China
Thiseditionfirstpublished2018
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LibraryofCongressCataloging-in-PublicationData:
Names:Liu,HughH.T.,author.|Zhu,Bo(Mechanicalengineer),author.
Title:Formationcontrolofmultipleautonomousvehiclesystems/HughH.T.
Liu,BoZhu.
Description:Firstedition.|Hoboken,NJ:Wiley,2018.|Includes
bibliographicalreferences.|
Identifiers:LCCN2018016968(print)|LCCN2018028265(ebook)|ISBN
9781119263043(AdobePDF)|ISBN9781119263050(ePub)|ISBN9781119263067
(hardcover)
Subjects:LCSH:Autonomousvehicles–Casestudies.|Formationcontrol
(Machinetheory)–Casestudies.|Synchronization–Casestudies.|Motion
controldevices–Casestudies.
Classification:LCCTL152.8(ebook)|LCCTL152.8.L582018(print)|DDC
629.04–dc23
LCrecordavailableathttps://lccn.loc.gov/2018016968
CoverDesign:Wiley
CoverImage:©Kirill_Savenko/GettyImages
Setin10/12ptWarnockProbySPiGlobal,Chennai,India
PrintedandboundbyCPIGroup(UK)Ltd,Croydon,CR04YY
10 9 8 7 6 5 4 3 2 1
Thisbookisdedicatedto:
Mywife,Hong,andmychildren,AlanandConnie
–HughH.T.Liu
Mywife,QianMo,andmyparents,GenyiZhuandGengxinZhang
–BoZhu
vii
Contents
Preface xiii
ListofTables xvii
ListofFigures xix
Acknowledgments xxv
PartI FormationControl:FundamentalConcepts 1
1 FormationKinematics 3
1.1 Notation 3
1.2 VectorialKinematics 5
1.2.1 FrameRotation 5
1.2.2 TheMotionofaVector 7
1.2.3 TheFirstTimeDerivativeofaVector 11
1.2.4 TheSecondTimeDerivativeofaVector 12
1.2.5 MotionwithRespecttoMultipleFrames 12
1.3 EulerParametersandUnitQuaternion 13
2 FormationDynamicsofMotionSystems 17
2.1 VirtualStructure 17
2.1.1 FormationControlProblemStatement 19
2.1.2 ExtendedFormationControlProblem 22
2.2 Behaviour-basedFormationDynamics 26
2.3 Leader–FollowerFormationDynamics 27
3 FundamentalFormationControl 29
3.1 UnifiedProblemDescription 29
3.1.1 SomeKeyDefinitionsforFormationControl 29
3.1.2 ASimpleIllustrativeExample 30
3.2 InformationInteractionConditions 32
3.2.1 AlgebraicGraphTheory 32
3.2.2 ConditionsfortheCasewithoutaLeader 33
3.2.3 ConditionsfortheCasewithaLeader 35
3.3 SynchronizationErrors 36
viii Contents
3.3.1 LocalSynchronizationError:TypeI 37
3.3.2 LocalSynchronizationError:TypeII 38
3.3.3 LocalSynchronizationError:TypeIII 40
3.4 VelocitySynchronizationControl 42
3.4.1 VelocitySynchronizationwithoutaLeader 42
3.4.2 VelocitySynchronizationwithaLeader 43
3.5 Angular-positionSynchronizationControl 45
3.5.1 SynchronizationwithoutaPositionReference 45
3.5.2 SynchronizationtoaPositionReference 47
3.6 FormationviaSynchronizedTracking 48
3.6.1 FormationControlSolution1 50
3.6.2 FormationControlSolution2 51
3.7 Simulations 52
3.7.1 VerificationofTheorem3.12 52
3.7.2 VerificationofTheorem3.13 54
3.7.3 VerificationofTheorem3.14 57
3.8 Summary 60
BibliographyforPartI 61
PartII FormationControl:AdvancedTopics 63
4 Output-feedbackSolutionstoFormationControl 65
4.1 Introduction 65
4.2 ProblemStatement 65
4.3 LinearOutput-feedbackControl 66
4.4 BoundedOutput-feedbackControl 68
4.5 DistributedLinearControl 71
4.6 DistributedBoundedControl 72
4.7 Simulations 73
4.7.1 Case1:VerificationofTheorem4.1 73
4.7.2 Case2:VerificationofTheorem4.5 76
4.8 Summary 78
5 RobustandAdaptiveFormationControl 81
5.1 ProblemStatement 81
5.2 ContinuousControlviaStateFeedback 83
5.2.1 ControllerDevelopment 83
5.2.2 AnalysisofTrackeru0 84
i
5.2.3 DesignofDisturbanceEstimators 85
5.2.4 Closed-loopPerformanceAnalysis 87
5.3 BoundedStateFeedbackControl 90
5.3.1 DesignofBoundedStateFeedback 90
5.3.2 RobustnessAnalysis 92
5.3.3 TheEffectofUDEonStability 94
5.3.4 TheEffectofUDEontheBoundsofControl 94
Contents ix
5.4 ContinuousControlviaOutputFeedback 95
̂
5.4.1 Designofu0andd 95
i i
5.4.2 StabilityAnalysis 96
5.5 DiscontinuousControlviaOutputFeedback 97
5.5.1 ControllerDesign 98
5.5.2 StabilityAnalysis 100
5.6 GSE-basedSynchronizationControl 102
5.6.1 CoupledErrors 103
5.6.2 ControllerDesignandConvergenceAnalysis 105
5.7 GSE-basedAdaptiveFormationControl 108
5.7.1 ProblemStatement 108
5.7.2 ControllerDevelopment 109
5.8 Summary 111
BibliographyforPartII 113
PartIII FormationControl:CaseStudies 115
6 FormationControlofSpaceSystems 117
6.1 LagrangianFormulationofSpacecraftFormation 117
6.1.1 LagrangianFormulation 117
6.1.2 AttitudeDynamicsofRigidSpacecraft 118
6.1.3 RelativeTranslationalDynamics 120
6.2 AdaptiveFormationControl 122
6.3 ApplicationsandSimulationResults 123
6.3.1 Application1:Leader–FollowerSpacecraftPair 123
6.3.1.1 SimulationCondition 123
6.3.1.2 ControlParameters 123
6.3.1.3 SimulationResultsandAnalysis 124
6.3.2 Application2:MultipleSpacecraftinFormation 124
6.4 Summary 130
7 FormationControlofAerialSystems 131
7.1 Vortex-inducedAerodynamics 131
7.1.1 ModeloftheTrailingVorticesofLeaderAircraft 134
7.1.2 SingleHorseshoeVortexModel 135
7.1.3 ContinuousVortexSheetModel 137
7.2 AircraftAutopilotModels 138
7.2.1 ModelsfortheFollowerAircraft 139
7.2.2 KinematicsforClose-formationFlight 140
7.3 ControllerDesign 140
7.3.1 LinearProportional-integralController 140
7.3.2 UDE-basedFormation-flightController 142
7.3.2.1 FormationFlightControllerDesign 143
7.3.2.2 UncertaintyandDisturbanceEstimator 144
7.4 SimulationResults 147
x Contents
7.4.1 SimulationResultsforController1 147
7.4.2 SimulationResultsforController2 148
7.5 Summary 154
8 FormationControlofRoboticSystems 157
8.1 Introduction 157
8.2 VisualTracking 159
8.2.1 ImagingHardware 159
8.2.2 ImageDistortion 160
8.2.3 ColorThresholding 163
8.2.4 NoiseRejection 163
8.2.5 DataExtraction 165
8.3 SynchronizationControl 167
8.3.1 Synchronization 167
8.3.2 FormationParameters 168
8.3.3 Architecture 169
8.3.4 ControlLaw 169
8.3.5 Simulations 170
8.3.5.1 ConstantFormationalongCircularTrajectory 171
8.3.5.2 Time-varyingFormationalongLinearTrajectory 173
8.4 PassivityControl 176
8.4.1 Passivity 176
8.4.2 FormationParameters 176
8.4.3 ControlLaw 177
8.4.4 Simulation 178
8.5 Experiments 181
8.5.1 Setup 181
8.5.2 Results 182
8.5.2.1 ConstantFormationAlongCircularTrajectory 182
8.5.2.2 Time-varyingFormationalongLinearTrajectory 183
8.6 Summary 186
BibliographyforPartIII 189
PartIV FormationControl:Laboratory 191
9 Experimentson3DOFDesktopHelicopters 193
9.1 DescriptionoftheExperimentalSetup 193
9.2 MathematicalModels 196
9.2.1 Nonlinear3DOFModel 196
9.2.2 2DOFModelforElevationandPitchControl 199
9.3 Experiment1:GSE-basedSynchronizedTracking 201
9.3.1 Objective 201
9.3.2 InitialConditionsandDesiredTrajectories 202
9.3.3 ControlStrategies 203
9.3.4 DisturbanceCondition 203
Contents xi
9.3.5 ExperimentalResults 204
9.3.6 Summary 208
9.4 Experiment2:UDE-basedRobustSynchronizedTracking 208
9.4.1 Objective 208
9.4.2 InitialConditionsandDesiredTrajectories 208
9.4.3 ControlStrategies 209
9.4.4 ExperimentalResultsandDiscussions 210
9.4.5 Summary 215
9.5 Experiment3:Output-feedback-basedSliding-modeControl 216
9.5.1 Objective 216
9.5.2 InitialConditionsandDesiredTrajectories 216
9.5.3 ControlStrategies 217
9.5.4 ExperimentalResultsandDiscussions 217
9.5.5 Summary 222
BibliographyforPartIV 223
PartV Appendix 225
BibliographyforAppendix 237
Index 239