Publish and Subscribe-Based Formation and Containment Control of Heterogeneous Robotic System with Actuator Time Delay

Applied Sciences

Omar Al-Buraiki¹  Siddig M. Elkhider²  Sami El-Ferik² 

[1] Department of Mechanical and Mechatronics Engineering, University of Waterloo, Waterloo, ON N2L 3G1, Canada;Interdisciplinary Center of Smart Mobility and Logistics, King Fahd University of Petroleum and Minerals, P.O. Box 5067, Dhahran 31261, Saudi Arabia;

关键词: underwater vehicle system;    unmanned aerial vehicle system;    L1 adaptive control;    flocking technique;    formation control;    containment control;   

DOI  :  10.3390/app11199145

来源: DOAJ

【 摘 要 】

This paper addresses the problem of controlling a heterogeneous system composed of multiple Unmanned Aerial Vehicles (UAVs) and Autonomous Underwater Vehicles (AUVs) for formation and containment maintenance. The proposed approach considers actuator time delay and, in addition to formation and containment, considers obstacle avoidance, and offers a robust navigation algorithm and uses a reliable middleware for data transmission and exchange. The methodology followed uses both flocking technique and modified L1 adaptive control to ensure the proper navigation and coordination while avoiding obstacles. The data exchange between all the agents is provided through the data distribution services (DDS) middleware, which solves the interoperability issue when dealing with heterogeneous multiagent systems. The modified L1 controller is a local controller for stabilizing the dynamic model of each UAV and AUV, and the flocking approach is used to coordinate the followers around the leader or within the space delimited by their leaders. Potential Field (PF) allows obstacle avoidance during the agents’ movement. The performance of the proposed approach under the considerations mentioned above are verified and demonstrated using simulations.

【 授权许可】

Unknown