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Intelligent finite-time formation control for flapping wing micro aerial vehicles
Xiaoyan He1, Zhaojing Yang1, Linke Zhang1
1School of Statistics and Mathematics, Inner Mongolia University of Finance and Economics, Huhhot, 010070, China.
Heliyon
|November 2, 2023
Summary
This study presents intelligent finite-time control for multiple Flapping Wing Micro Aerial Vehicles (FWMAVs). The proposed adaptive neural network control ensures formation tracking, collision avoidance, and connectivity preservation for FWMAVs.
Area of Science:
- Robotics
- Control Systems Engineering
- Artificial Intelligence
Background:
- Flapping Wing Micro Aerial Vehicles (FWMAVs) present unique control challenges due to their complex dynamics.
- Achieving coordinated formation control in multi-vehicle systems requires robust handling of uncertainties and external disturbances.
Purpose of the Study:
- To develop an intelligent finite-time formation control strategy for multiple FWMAVs.
- To address the challenges of uncertainty estimation, collision avoidance, connectivity preservation, and finite-time convergence in FWMAV systems.
Main Methods:
- Derivation of FWMAV translational and rotational motion equations using Lagrangian mechanics.
- Decoupling the system into internal and external dual-loop subsystems.
- Application of an adaptive neural network estimation algorithm for uncertainty and disturbance estimation.
- Development of intelligent control protocols utilizing potential energy functions, generalized inverse matrices, and finite-time stability theory.
Main Results:
- Successful estimation of model uncertainties and external disturbances.
- Achievement of collision avoidance among multiple FWMAVs.
- Ensured connectivity preservation within the FWMAV formation.
- Demonstrated finite-time convergence for formation tracking control objectives.
- Validated effectiveness and superiority of the proposed control protocol through MATLAB simulations.
Conclusions:
- The proposed intelligent finite-time control strategy effectively manages uncertainties and disturbances in multi-FWMAV systems.
- The control protocols ensure safe and coordinated formation flight, including collision avoidance and connectivity maintenance.
- Simulation results confirm the robustness and efficiency of the developed approach for FWMAV formation control.
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