Cylindrical Bounded Quaternion Control for Tracking and Surrounding a Ground Target Using UAVs. Issue 2 (2020)

• Record Type: Journal Article
• Authors: Abaunza, Hernan; Castillo, Pedro; Theilliol, Didier; Belkadi, Adel; Ciarletta, Laurent
• Is Part Of: IFAC-PapersOnLine. Volume 53:Issue 2(2020)
• Page Start: 9354
• Page End: 9359
• Publication Date: 2020
• Subjects: Flying robots -- Guidance navigation -- control -- Autonomous robotic systems -- Bounded Control -- Quadrotors -- Quaternions -- Multi-robot systems; Automatic control -- Periodicals; 629.805
• DOI: 10.1016/j.ifacol.2020.12.2392
• Languages: English
• ISSNs: 2405-8963

Abstract

Abstract: A cooperative tracking algorithm for multiple quadrotors autonomously tracking and surrounding a target ground vehicle is presented in this paper. A nonlinear bounded controller is proposed using geometrical functions to stabilize the translational and rotational dynamics using bounded 3-dimensional control inputs, employing quaternion properties and operators in its design, Lyapunov theory is used to prove system stability. The navigation challenge is tackled by proposing a cost function based on the desired behavior of the aerial vehicles for tracking and surrounding the target, which is solved by finding the optimal solution with a Particle Swarm Optimization algorithm. Simulations and experimental results corroborate the good performance of the scheme.