Skip to main content
SpringerLink
Log in

Robust Decentralized Asynchronous Control of Unmanned Aerial Vehicles Swarm with Fast Convergence Switching Topology

  • Conference paper
  • First Online:
Advanced Machine Learning Technologies and Applications (AMLTA 2021)

Part of the book series: Advances in Intelligent Systems and Computing ((AISC,volume 1339))

Abstract

This paper proposes a robust decentralized asynchronous controller for unmanned aerial vehicle (UAV) swarms with fast convergence topology. The unmanned aerial vehicle’s analyzed mathematicalmodel is a 2D kinematic model that considers the position and attitude in two dimensions. For this purpose, two robust gains are tuned considering the switching topology according to the time instants, in opposition to other approaches in which there are other criteria to tune the robust gains. Lyapunov functions are implemented to obtain the exponential stability closed-loop requirement during several switching instants. One of the most important contributions of this study is that a fast switching topology is provided by finding the appropriate subset in which first the exponential stability of the closed-loop system is assured by finding a region of convergence in which the system is stabilized faster. The two controllers are designed so that angular and linear velocity profiles are followed so that a specific position and attitude tracking are achieved by the action of a decentralized controller. To validate the theoretical results obtained in this study, a numerical experiment is done evincing the effectiveness of the proposed control strategy, and finally, the discussion of the results and its conclusions are provided.

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

Access this chapter

Log in via an institution
Chapter
USD 29.95
Price excludes VAT (USA)
  • Available as PDF
  • Read on any device
  • Instant download
  • Own it forever
eBook
USD 229.00
Price excludes VAT (USA)
  • Available as EPUB and PDF
  • Read on any device
  • Instant download
  • Own it forever
Softcover Book
USD 299.99
Price excludes VAT (USA)
  • Compact, lightweight edition
  • Dispatched in 3 to 5 business days
  • Free shipping worldwide - see info

Tax calculation will be finalised at checkout

Purchases are for personal use only

Institutional subscriptions

Similar content being viewed by others

References

  1. Sallam, O.K., Azar, A.T., Guaily, A., Ammar, H.H.: Tuning of PID controller using particle swarm optimization for cross flow heat exchanger based on CFD system identification. In: Proceedings of the International Conference on Advanced Intelligent Systems and Informatics 2019. Advances in Intelligent Systems and Computing, vol. 1058, pp. 300–312. Springer, Cham (2020)

    Google Scholar 

  2. Barakat, M.H., Azar, A.T., Ammar, H.H.: Agricultural service mobile robot modeling and control using artificial fuzzy logic and machine vision. In: The International Conference on Advanced Machine Learning Technologies and Applications (AMLTA2019). Advances in Intelligent Systems and Computing, vol. 921, pp. 453–465. Springer, Cham (2020)

    Google Scholar 

  3. Mohamed, N.A., Azar, A.T., Abbas, N.E., Ezzeldin, M.A., Ammar, H.H.: Experimental kinematic modeling of 6-DOF serial manipulator using hybrid deep learning. In: Proceedings of the International Conference on Artificial Intelligence and Computer Vision (AICV2020), pp 283–295. Springer, Cham (2020)

    Google Scholar 

  4. Ibrahim, H.A., Azar, A.T., Ibrahim, Z.F., Ammar, H.H.: A hybrid deep learning based autonomous vehicle navigation and obstacles avoidance. In: Proceedings of the International Conference on Artificial Intelligence and Computer Vision (AICV2020), pp 296–307. Springer, Cham (2020)

    Google Scholar 

  5. Sayed, A.S., Azar, A.T., Ibrahim, Z.F., Ibrahim, H.A., Mohamed, N.A., Ammar, H.H.: Deep learning based kinematic modeling of 3-RRR parallel manipulator. In: Proceedings of the International Conference on Artificial Intelligence and Computer Vision (AICV2020), pp 308–321. Springer, Cham (2020)

    Google Scholar 

  6. Ajeil, F.H., Ibraheem, I.K., Azar, A.T., Humaidi, A.J.: Grid-based mobile robot path planning using aging-based ant colony optimization algorithm in static and dynamic environments. Sensors 20(7), 1880 (2020)

    Article  Google Scholar 

  7. Ibraheem, G.A.R., Azar, A.T., Ibraheem, I.K., Humaidi, A.J.: A novel design of a neural network-based fractional PID controller for mobile robots using hybridized fruit fly and particle swarm optimization. Complexity 2020, 1–18 (2020)

    Article  Google Scholar 

  8. Humaidi, A.J., Ibraheem, I.K., Azar, A.T., Sadiq, M.E.: A new adaptive synergetic control design for single link robot arm actuated by pneumatic muscles. Entropy 22(7), 723 (2020)

    Article  Google Scholar 

  9. Ajeil, F.H., Ibraheem, I.K., Azar, A.T., Humaidi, A.J.: Autonomous navigation and obstacle avoidance of an omnidirectional mobile robot using swarm optimization and sensors deployment. Int. J. Adv. Robot. Syst. 17(3), 1–15 (2020). https://doi.org/10.1177/1729881420929498

    Article  Google Scholar 

  10. Ammar, H.H., Azar, A.T.: Robust path tracking of mobile robot using fractional order PID controller. In: The International Conference on Advanced Machine Learning Technologies and Applications (AMLTA2019). Advances in Intelligent Systems and Computing, vol. 921, pp. 370–381. Springer, Cham (2020)

    Google Scholar 

  11. Najm, A.A., Ibraheem, I.K., Azar, A.T., Humaidi, A.J.: Genetic optimization-based consensus control of multi-agent 6-DoF UAV system. Sensors 20(12), 3576 (2020)

    Article  Google Scholar 

  12. Azar, A.T., Serrano, F.E., Kamal, N.A., Koubaa, A.: Robust kinematic control of unmanned aerial vehicles with non-holonomic constraints. In: Proceedings of the International Conference on Advanced Intelligent Systems and Informatics 2020, pp. 839–850. Springer, Cham (2021)

    Google Scholar 

  13. Azar, A.T., Serrano, F.E.: Fractional order sliding mode PID controller/observer for continuous nonlinear switched systems with PSO parameter tuning. In: The International Conference on Advanced Machine Learning Technologies and Applications (AMLTA2018). Advances in Intelligent Systems and Computing, vol. 723, pp. 13–22. Springer, Cham (2018)

    Google Scholar 

  14. Azar, A.T., Serrano, F.E.: Robust control for asynchronous switched nonlinear systems with time varying delays, pp. 891–899. Springer, Cham (2017)

    Google Scholar 

  15. Qi, J., Sun, Y.: Global exponential stability of certain switched systems with time-varying delays. Appl. Math. Lett. 26(7), 760–765 (2013)

    Article  MathSciNet  Google Scholar 

  16. Chen, Y., Fei, S., Zhang, K., Yu, L.: Control of switched linear systems with actuator saturation and its applications. Math. Comput. Model. 56(1), 14–26 (2012)

    Article  MathSciNet  Google Scholar 

  17. Yang, T., Li, A., Niu, E.: Robust dynamic output feedback control for switched polytopic systems under asynchronous switching. Chin. J. Aeronaut. 28(4), 1226–1235 (2015)

    Article  Google Scholar 

  18. Zhao, Q., Dong, X., Liang, Z., Bai, C., Chen, J., Ren, Z.: Distributed cooperative guidance for multiple missiles with fixed and switching communication topologies. Chin. J. Aeronaut. 30(4), 1570–1581 (2017)

    Article  Google Scholar 

  19. Wang, L., Gao, L.: H-infinity consensus control for discrete-time multi-agent systems with switching topology. Procedia Eng. 15, 601–607 (2011)

    Article  Google Scholar 

  20. He, Y.: Mission-driven autonomous perception and fusion based on UAV swarm. Chin. J. Aeronaut. (2020)

    Google Scholar 

  21. Cai, Z., Wang, L., Zhao, J., Wu, K., Wang, Y.: Virtual target guidance-based distributed model predictive control for formation control of multiple UAVs. Chin. J. Aeronaut. 33(3), 1037–1056 (2020)

    Article  Google Scholar 

  22. Chen, H., Wang, X., Shen, L., Cong, Y.: Formation flight of fixed-wing UAV swarms: a group-based hierarchical approach. Chin. J. Aeronaut. (2020)

    Google Scholar 

  23. Fu, X., Pan, J., Wang, H., Gao, X.: A formation maintenance and reconstruction method of UAV swarm based on distributed control. Aerosp. Sci. Technol. 104(105), 981 (2020)

    Google Scholar 

  24. He, L., Bai, P., Liang, X., Zhang, J., Wang, W.: Feedback formation control of UAV swarm with multiple implicit leaders. Aerosp. Sci. Technol. 72, 327–334 (2018)

    Article  Google Scholar 

  25. Fan, B., Zhang, Z., Zhang, R.: Distributed UAV swarm based on spatial grid model. Chin. J. Aeronaut. (2020)

    Google Scholar 

  26. Kechris, A.S.: Topology and descriptive set theory. Topol. Appl. 58(3), 195–222 (1994)

    Article  MathSciNet  Google Scholar 

  27. Bouchair, A., Kelaiaia, S.: Comparison of some set open topologies on c(x, y). Topol. Appl. 178, 352–359 (2014)

    Article  MathSciNet  Google Scholar 

  28. de Vries, M., Komornik, V., Loreti, P.: Topology of the set of univoque bases. Topol. Appl. 205, 117–137 (2016)

    Article  MathSciNet  Google Scholar 

  29. Kopperman, R., Kronheimer, E., Wilson, R.: Topologies on totally ordered sets. Topol. Appl. 90(1), 165–185 (1998)

    Article  MathSciNet  Google Scholar 

Download references

Acknowledgment

This research is funded by Prince Sultan University, Riyadh, Kingdom of Saudi Arabia. Special acknowledgement to Robotics and Internet-of-Things Lab (RIOTU), Prince Sultan University, Riyadh, Saudi Arabia. We would like to show our gratitude to Prince Sultan University, Riyadh, Saudi Arabia.

Author information

Authors and Affiliations

  1. College of Computer & Information Sciences, Prince Sultan University, Riyadh, Saudi Arabia

    Ahmad Taher Azar, Anis Koubaa & Adel Ammar

  2. Faculty of Computers and Artificial Intelligence, Benha University, Banha, Egypt

    Ahmad Taher Azar

  3. Research Collaborator, Robotics and Internet-of-Things Lab (RIOTU), Prince Sultan University, Riyadh, Saudi Arabia

    Fernando E. Serrano

  4. International Group of Control Systems (IGCS), Riyadh, Saudi Arabia

    Fernando E. Serrano

  5. Faculty of Engineering, Cairo University, Giza, Egypt

    Nashwa Ahmad Kamal

Authors
  1. Ahmad Taher Azar
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. Fernando E. Serrano
    View author publications

    You can also search for this author in PubMed Google Scholar

  3. Nashwa Ahmad Kamal
    View author publications

    You can also search for this author in PubMed Google Scholar

  4. Anis Koubaa
    View author publications

    You can also search for this author in PubMed Google Scholar

  5. Adel Ammar
    View author publications

    You can also search for this author in PubMed Google Scholar

Corresponding author

Correspondence to Ahmad Taher Azar .

Editor information

Editors and Affiliations

  1. Information Technology Department, Cairo University, Computer and Information Faculty, Giza, Egypt

    Aboul-Ella Hassanien

  2. College of Information Science and Engineering, Fujian University of Technology, Fuzhou, Fujian, China

    Kuo-Chi Chang

  3. International Center for Informatics Research, Beijing Jaiotong University, Beijing, China

    Tang Mincong

Rights and permissions

Reprints and permissions

Copyright information

© 2021 The Author(s), under exclusive license to Springer Nature Switzerland AG

About this paper

Check for updates. Verify currency and authenticity via CrossMark

Cite this paper

Azar, A.T., Serrano, F.E., Kamal, N.A., Koubaa, A., Ammar, A. (2021). Robust Decentralized Asynchronous Control of Unmanned Aerial Vehicles Swarm with Fast Convergence Switching Topology. In: Hassanien, AE., Chang, KC., Mincong, T. (eds) Advanced Machine Learning Technologies and Applications. AMLTA 2021. Advances in Intelligent Systems and Computing, vol 1339. Springer, Cham. https://doi.org/10.1007/978-3-030-69717-4_62

Download citation

Publish with us

Policies and ethics

Search

Navigation