Time-Critical Cooperative Control of Autonomous Air Vehicles

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