Time-Critical Cooperative Control of Autonomous Air Vehicles

Description

Time-Critical Cooperative Control of Autonomous Air Vehicles presents, in an easy-to-read style, the latest research conducted in the industry, while also introducing a set of novel ideas that illuminate a new approach to problem-solving. The book is virtually self-contained, giving the reader a complete, integrated presentation of the different concepts, mathematical tools, and control solutions needed to tackle and solve a number of problems concerning time-critical cooperative control of UAVs. By including case studies of fixed-wing and multirotor UAVs, the book effectively broadens the scope of application of the methodologies developed. This theoretical presentation is complemented with the results of flight tests with real UAVs, and is an ideal reference for researchers and practitioners from academia, research labs, commercial companies, government workers, and those in the international aerospace industry. Cover Time-Critical Cooperative Control of Autonomous Air Vehicles Copyright Dedication List of Figures Foreword Preface Acknowledgments Notation and Symbols Part One: Time-Critical Cooperative Control: An Overview 1 Introduction 1.1 General Description 1.2 Practical Motivation and Mission Scenarios 1.2.1 Cooperative Road Search 1.2.2 Sequential Auto-Landing 1.3 Literature Review 1.3.1 Path-Following Control 1.3.2 Coordinated Path-Following Control 1.3.3 Consensus and Synchronization in Networks Proportional-Integral Consensus Protocols Quantized Consensus References 2 General Framework for Vehicle Cooperation 2.1 General Framework 2.2 Problem Formulation 2.2.1 Cooperative Trajectory Generation Feasible Trajectory Generation for a Single Vehicle Feasible Collision-Free Trajectory Generation for Multiple Vehicles 2.2.2 Single-Vehicle Path Following 2.2.3 Coordination and Communication Constraints 2.2.4 Autonomous Vehicles with Inner-Loop Autopilots References Part Two: Cooperative Control of Fixed-Wing Air Vehicles 3 3D Path-Following Control of Fixed-Wing Air Vehicles 3.1 Tracking a Virtual Target on a Path 3.2 Path-Following Control Law 3.2.1 Nonlinear Control Design at the Vehicle Kinematic Level 3.2.2 Stability Analysis with Non-ideal Inner-Loop Performance 3.3 Implementation Details 3.4 Simulation Example: Shaping the Approach to the Path References 4 Time Coordination of Fixed-Wing Air Vehicles 4.1 Coordination States 4.2 Coordination Control Law 4.2.1 Speed Control at the Vehicle Kinematic Level 4.2.2 Convergence Analysis with Non-ideal Inner-Loop Performance 4.3 Combined Path Following and Time Coordination 4.3.1 Stability Analysis at the Kinematic Level 4.3.2 Stability Analysis with Inner-Loop Autopilots 4.4 Implementation Details 4.5 Simulation Examples 4.5.1 Path Following with Simultaneous Arrival 4.5.2 Sequential Auto-Landing References 5 Meeting Absolute Temporal Specifications 5.1 Strict and Loose Absolute Temporal Constraints 5.2 Coordinating with a Virtual Clock Vehicle 5.2.1 Coordination Control Law 5.2.2 Stability Analysis at the Kinematic Level 5.3 Coordination with Loose Absolute Temporal Constraints 5.4 Illustrative Example: Sequential Auto-Landing with Predefined Arrival Windows 5.4.1 Transition Trajectories and Glide Slope 5.4.2 Mission Execution Loose Absolute Temporal Constraints Strict Absolute Temporal Constraints Relative Temporal Constraints References 6 Time Coordination Under Quantization 6.1 Convergence with Quantized Information 6.1.1 Coordination Control Law and Coordination Dynamics 6.1.2 Krasovskii Equilibria 6.1.3 Stability Analysis at the Kinematic Level 6.1.4 Coordination with Fully Quantized Information 6.2 Simulation Example: Sequential Auto-Landing with Quantized Information References 7 Time Coordination Under Low Connectivity 7.1 Local Estimators and Topology Control 7.1.1 Estimator Dynamics 7.1.2 Coordination Control Law and Link-Weight Dynamics 7.2 Simulation Example: Sequential Auto-Landing Under Severely Limited Communication References 8 Flight Tests: Cooperative Road Search 8.1 Road Search with Multiple Small Autonomous Air Vehicles 8.1.1 Airborne System Architecture 8.1.2 Flight-Test Results 8.2 Mission Outcomes References Part Three: Cooperative Control of Multirotor Air Vehicles 9 3D Path-Following Control of Multirotor Air Vehicles 9.1 Problem Formulation 9.1.1 6-DoF Model for a Multirotor UAV 9.1.2 Virtual Target and Virtual Time 9.1.3 Path-Following Error 9.2 Path-Following Control Law 9.3 Simulation Example: Following a Virtual Target References 10 Time Coordination of Multirotor Air Vehicles 10.1 Coordination States and Maps 10.2 Coordination Control Law 10.3 Simulation Results Ideal Communications - Ideal Path Following Range-Based Communications - Ideal Path Following Range-Based Communications - Non-Ideal Path Following References 11 Flight Tests of Multirotor UAVs 11.1 System Architecture and Indoor Facility 11.2 Flight-Test Results 11.2.1 Phase on Orbit Coordination 11.2.2 Spatial Coordination Along One Axis 11.2.3 Additional Flight Tests References Part Four: Final Considerations 12 Summary and Concluding Remarks 12.1 Summary 12.2 Open Problems Cooperative Trajectory Generation Coordination Under Communication Constraints Autonomy 12.3 Cooperative Control in Future Airspace Scenarios References A Mathematical Background A.1 The Hat and Vee Maps A.2 Nonlinear Stability Theory A.2.1 Lipschitz Functions, Existence and Uniqueness of Solutions A.2.2 Autonomous Systems A.2.3 The Invariance Principle A.2.4 Nonautonomous Systems A.2.5 Boundedness A.2.6 Input-to-State Stability A.3 Graph Theory A.3.1 Basic Definitions A.3.2 Connectivity A.3.3 Algebraic Graph Theory References B Proofs and Derivations B.1 Proofs and Derivations in Part I B.1.1 The Coordination Projection Matrix B.2 Proofs and Derivations in Part II B.2.1 Time-Derivative of the Coordination States B.2.2 Closed-Loop Coordination Error Dynamics B.2.3 Proof of Lemma 3.1 B.2.4 Proof of Lemma 3.2 B.2.5 Proof of Lemma 4.1 Proof of Inequality (B.22) B.2.6 Proof of Lemma 4.2 B.2.7 Proof of Theorem 4.1 B.2.8 Proof of Theorem 4.2 B.2.9 Proof of Lemma 6.1 B.2.10 Proof of Proposition 6.1 B.2.11 Proof of Theorem 6.1 B.2.12 Proof of Lemma 6.2 B.3 Proofs and Derivations in Part III B.3.1 Proof of Lemma 9.1 B.3.2 Proof of Lemma 9.2 Proof of Inequality (B.85) B.3.3 Proof of Lemma 9.3 B.3.4 Proof of Theorem 10.1 B.3.5 Proof of Corollary 10.1 References Index Back Cover