Skip to main content
SpringerLink
Log in

Observer-Based Time-Varying Backstepping Control for a Quadrotor Multi-Agent System

  • Published:
Journal of Intelligent & Robotic Systems Aims and scope Submit manuscript

Abstract

This paper studies the formation tracking problem for a multi-agent system composed by a set of quadrotor UAVs. Parrot AR.Drone 2.0 quadrotors are used as agents of the system. The AR.Drone 2.0 features an internal controller to stabilize the angular dynamics. This controller is modelled and identified through the least squares method. The proposed control strategy is designed using a time-varying version of the backstepping technique for each agent. For the implementation of the control law, it is assumed that each agent measures only the leader and its own positions, while the leader also knows the desired trajectory the system must follow. Linear and angular velocities of the agents are estimated using suitable Luenberger observers. The proposed control strategy allows the leader agent to converge asymptotically to a predetermined flight trajectory while the follower agents converge asymptotically to their own trajectories defined by the leader position and a constant formation vector. The theoretical results are validated through real-time experiments.

This is a preview of subscription content, log in via an institution to check access.

Access this article

Log in via an institution

Price excludes VAT (USA)
Tax calculation will be finalised during checkout.

Instant access to the full article PDF.

Similar content being viewed by others

References

  1. Fyler, D., Sullivan, B., Raptis, I.A.: Distributed object manipulation using a mobile Multi-Agent system. In: IEEE Int. Conf. Technologies for practical robot application, Woburn, pp. 1–6 (2015)

  2. Becker, M., Blatt, F., Szczerbicka, H.: A multi-agent flooding algorithm for search and rescue operations in unknown terrain. In: Multiagent system technologies, lecture notes in computer science, vol. 8076. Springer, Berlin (2013)

  3. Vallejo, D., Monekosso, P., Jimenez, D.N., Gonzalez, L.: A multi-agent architecture for multi-robot surveillance, vol. 5796. Springer, Berlin (2009)

    Google Scholar 

  4. Vargas-Jacob, J.A., Corona-Sánchez, J.J., Rodríguez-Cortés, H.: Experimenhtal implementation of a leader-follower strategy for quadrotors using a distributed architecture. J. Intell. Robot. Syst. 84, 435–452 (2016)

    Article  Google Scholar 

  5. Muñoz, F., Espinoza, E.S., García-Carrillo, L.R., Márquez, M.A.: Semi-global leader-follower consensus for networked unmanned multi-aircraft systems with input saturation. In: 2017 international conference on unmanned aircraft systems (ICUAS), Miami (2017)

  6. Vallejo, D., Monekosso, P., Jimenez, D.N., Gonzalez, L.: A multi-agent architecture for multi-robot surveillance. In: 2017 international conference on unmanned aircraft systems (ICUAS), Miami (2017)

  7. Acevedo, J.J., Arrue, B.C., Maza, I., Ollero, A.: A distributed framework for surveillance missions with aerial robots including dynamic assignment of the detected intruders. In: Proceedings of the international conference on unmanned aircraft systems (ICUAS 2016), pp. 1212–1219 (2016)

  8. Spedicato, S., Notarstefano, G., Bulthoff, H., Franchi, A.: Aggressive maneuver regulation of a quadrotor UAV. In: Robotics research: The 16th international symposium ISRR 2016, pp. 95–112. Springer International Publishing (2016)

  9. Pestana, J., Sanchez-Lopez, J.L., Campoy, P., Saripalli, S.: Vision based gps-denied object tracking and following for unmanned aerial vehicles. In: IEEE international symposium on safety security and rescue robotics, pp. 1–6 (2013)

  10. Li, K., Phang, S.K., Chen, B.M., Lee, T.H.: Platform design and mathematical modeling of an ultralight quadrotor micro aerial vehicle. In: Proceedings of the international conference on unmanned aircraft systems (ICUAS 2013) (2013)

  11. Krajník, T., Vonásek, V., Fiser, D., Faigl, J.: AR-drone as a platform for robotic research and education. In: Research and education in robotics - EUROBOT 2011: international conference, pp. 15–17. Prague, Czech Republic (2011)

  12. Garcia, G.A., Kim, A.R., Jackson, E., Keshmiri, S.S., Shukla, D.: Modeling and flight control of a commercial Nano Quadrotor. In: 2017 International Conference on Unmanned Aircraft Systems (ICUAS), Miami (2017)

  13. García-Carrillo, L.R., Dzul-López, A.E., Lozano, R., Pégard, C.: Modeling the Quad-Rotor Mini-Rotorcraft. In: Quad Rotorcraft Control, Advances in Industrial Control, pp. 23–34. Springer, London (2013)

  14. Bristeau, P.J., Callou, F., Vissiére, D., Petit, N.: The navigation and control technology inside the AR.drone micro UAV. In: 18th IFAC World congress (2011)

  15. Aboutalebi, P., Abbaspour, A., Forouzannezhad, P., Sargolzaei, A.: A novel sensor fault detection in an unmanned quadrotor based on adaptive neural observer. In: Journal of intelligent & robotic systems (2017)

  16. Abbaspour, A., Aboutalebi, P., Yen, K.K., Sargolzaei, A.: Neural adaptive observer-based sensor and actuator fault detection in nonlinear systems: application in UAV. In: ISA transactions, vol. 67, pp. 317–329 (2017)

  17. Kokotovic, P.V.: The joy of feedback: nonlinear and adaptive. IEEE Control. Syst. Mag. 12, 7–17 (1992)

    Article  Google Scholar 

  18. Krstic, M., Kokotovic, P.V.: Nonlinear and adaptive control design. Wiley, New York (1995)

    MATH  Google Scholar 

  19. Khalil, H.K.: Nonlinear systems, pp. 589–603. Prentice Hall, Upper Saddle River (2002)

    Google Scholar 

  20. Malisoff, M., Mazenc, F.: Constructions of strict lyapunov functions. In: Communications and control engineering, pp. 192–205. Springer (2009)

Download references

Acknowledgements

A short version of this paper was presented in the 2017 International Conference on Unmanned Aircraft Systems (ICUAS’17), that was held in Miami, FL USA, on 13-16 June 2017. The work of M.A. Rosaldo-Serrando and J. Santiaguillo-Salinas was supported by CONACYT, México, thought scholarships No. 345679 and 243226.

Author information

Authors and Affiliations

  1. Electric Engineering Department, CINVESTAV-IPN, Av. Instituto Politécnico Nacional 2508, 07360, Ciudad de México, México

    Marcos A. Rosaldo-Serrano & Eduardo Aranda-Bricaire

  2. Mechatronics Engineering Department, Universidad del Papaloapan Campus Loma Bonita, Av. Ferrocarril s/n, Col. Ciudad Universitaria, C.P. 68400, Loma Bonita, Oaxaca, México

    Jesús Santiaguillo-Salinas

Authors
  1. Marcos A. Rosaldo-Serrano
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. Jesús Santiaguillo-Salinas
    View author publications

    You can also search for this author in PubMed Google Scholar

  3. Eduardo Aranda-Bricaire
    View author publications

    You can also search for this author in PubMed Google Scholar

Corresponding author

Correspondence to Marcos A. Rosaldo-Serrano.

Additional information

Publisher’s Note

Springer Nature remains neutral with regard to jurisdictional claims in published maps and institutional affiliations.

Rights and permissions

Reprints and permissions

About this article

Check for updates. Verify currency and authenticity via CrossMark

Cite this article

Rosaldo-Serrano, M.A., Santiaguillo-Salinas, J. & Aranda-Bricaire, E. Observer-Based Time-Varying Backstepping Control for a Quadrotor Multi-Agent System. J Intell Robot Syst 93, 135–150 (2019). https://doi.org/10.1007/s10846-018-0867-8

Download citation

  • Received:

  • Accepted:

  • Published:

  • Issue Date:

  • DOI: https://doi.org/10.1007/s10846-018-0867-8

Keywords

Search

Navigation