INTELLIGENT CONTROL OF UAVs FOR CONSENSUS-BASED ANDNETWORK CONTROLLED APPLICATIONS

摘要

During the past few years, research in the field of cooperative control of swarm of robots and specially Unmanned Aerial Vehicles (UAV) has continuously increased. Towards this goal this paper identifies three problems: the development of a testbed for UAVs, the implemen-tation of an ad hoc network and a protocol based on network control, and a consensus control algorithm for cooperative control of UAVs. Furthermore, a combination of Fuzzy Logic Control (FLC) and Model Reference Adaptive Control (MRAC) was developed to stabilize and control a fixed-wing UAV. The testbed currently enables us to perform waypoint navigation using a global positioning system (GPS) while at the same time maintains the UAV stable. Also, the control is transferable to similar UAV models with little to no change to the algorithm. The commu-nication protocol designed for the ad hoc network has proved to be reliable for our application and can be expanded to be used with different number of agents. The algorithm of consensus control has been analyzed and tested in simulation. Future work will allow implementing the consensus control as centralized control or distributed control.