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Performance-guaranteed distributed control for multiple plant protection UAVs with collision avoidance and a directed
Hanqiao Huang1, Hantong Mei2, Tian Yan1
1Unmanned System Research Institute, Northwestern Polytechnical University, Xi'an, China.
Frontiers in Plant Science
|October 10, 2022
Summary
This study introduces a novel control scheme for multiple agricultural drone systems, ensuring efficient, collision-free plant protection operations within a set timeframe. The method guarantees coordinated drone movement for timely task completion.
Area of Science:
- Agricultural Engineering
- Robotics and Control Systems
- Aerospace Engineering
Background:
- Increasing demand for efficient agricultural plant protection necessitates advanced multi-UAV systems.
- Existing control schemes face challenges in ensuring coordinated, collision-free operation with directed topologies.
Purpose of the Study:
- To develop a distributed control scheme for multiple plant protection UAVs.
- To guarantee collision avoidance and achieve consensus within a predetermined time.
Main Methods:
- Proposed a novel predetermined time performance function (PTPF) for finite-time convergence of tracking errors.
- Implemented a two-order filter for leader information estimation and a distributed control protocol.
- Introduced a collision prediction mechanism with a repulsive force field for obstacle avoidance.
Main Results:
- The distributed control protocol successfully avoids the need for an asymmetric Laplace matrix.
- Collision avoidance was achieved through a repulsive force field mechanism.
- Rigorous proof confirms that consensus is reached within the predetermined time.
Conclusions:
- The developed control scheme enables multiple UAVs to achieve consensus and fulfill time-constrained plant protection tasks efficiently.
- The PTPF and collision avoidance mechanisms ensure performance guarantees and operational safety.
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