TY - GEN
T1 - Control of an Assembly of Aerial Vehicles Under Uncertainty
AU - Shahab, Mohamad T.
AU - Garanger, Kévin
AU - Feron, Eric
N1 - KAUST Repository Item: Exported on 2022-09-14
Acknowledgements: Support for the work of M.T. Shahab and E. Feron was provided by the KAUST faculty baseline fund. Support for the work of K. Garanger was provided by a gift from General Atomics.
PY - 2022/9/5
Y1 - 2022/9/5
N2 - In this paper, we consider the problem of controlling a rigid assembly of aerial vehicles under uncertainty. We consider the case when the positions of the vehicle modules in the assembly structure are unknown, but belong to a finite set. In addition, we consider that each module has only its own measurements available for feedback but not that of the whole assembly, so a decentralized control law is developed. We apply an adaptive switching control approach to control this uncertain system. Given a stabilizing controller for the case when there is no uncertainty, we show that the proposed adaptive approach achieves the control objective under uncertainty by presenting illustrative simulation examples; we provide a case study of a recently proposed novel modular flying system, namely a fractal tetrahedron assembly.
AB - In this paper, we consider the problem of controlling a rigid assembly of aerial vehicles under uncertainty. We consider the case when the positions of the vehicle modules in the assembly structure are unknown, but belong to a finite set. In addition, we consider that each module has only its own measurements available for feedback but not that of the whole assembly, so a decentralized control law is developed. We apply an adaptive switching control approach to control this uncertain system. Given a stabilizing controller for the case when there is no uncertainty, we show that the proposed adaptive approach achieves the control objective under uncertainty by presenting illustrative simulation examples; we provide a case study of a recently proposed novel modular flying system, namely a fractal tetrahedron assembly.
UR - http://hdl.handle.net/10754/680970
UR - https://ieeexplore.ieee.org/document/9867535/
U2 - 10.23919/ACC53348.2022.9867535
DO - 10.23919/ACC53348.2022.9867535
M3 - Conference contribution
SN - 978-1-6654-9480-9
BT - 2022 American Control Conference (ACC)
PB - IEEE
ER -