Rong Li

This paper presents a graph rigidity-based formation control law for multiple quadrotors, addressing parameter uncertainties and state constraints. A Barrier Lyapunov function and a saturation function are utilized to enforce constraints directly on the actual states rather than on state errors. Building upon the backstepping design methodology, formation control algorithms for multi-quadrotor systems are developed, consisting of a position control loop and an attitude control loop. In the position control loop, a formation controller based on rigidity graph theory is implemented, incorporating output and state constraints to effectively manage formation flight missions under various constrained conditions. Additionally, a Radial Basis Function (RBF) neural network is employed to compensate for system uncertainties, enhancing robustness and stability. In the attitude control loop, an attitude tracking controller is designed to ensure accurate attitude tracking. Finally, simulations are conducted to validate the effectiveness of the proposed control strategy.

This paper uses the adaptive dynamic programming (ADP) method to achieve optimal trajectory tracking control for quadrotors. Relying on an established mathematical model of a quadrotor, the approximate optimal trajectory tracking control, which consists of the steady-state control input and the approximate optimal feedback control input, is designed for a nominal system. Considering the compound disturbances in position and attitude dynamic models, disturbance observers are introduced. The estimated values are used to design robust compensation inputs to suppress the effect of the compound disturbances for good trajectory tracking performance. Theoretically, the Lyapunov theorem demonstrates the stability of a closed-loop system. The robustness and effectiveness of the proposed controller are confirmed by the simulation results.

This paper studies the containment control problem of linear multi-agent systems (MASs) subject to external disturbances, where the communication graph is a directed graph with the followers being undirected connections. In order to save communication costs and energy consumption, a distributed disturbance observer-based event-triggered controller is employed based on the relative outputs of neighboring followers. Compared with conventional controllers, our observer-based controller utilizes the relative outputs of neighboring followers at the same triggered instant. Furthermore, it is shown that Zeno behavior can be avoided. Finally, the validity of our proposed methodology is demonstrated by a simulation example.

The deployment strategy for wireless sensor networks (WSNs) affects the quality of service (QoS). Adopting a reasonable deployment strategy can improve the QoS of WSNs. In this paper, the problem regarding sensor node deployment for WSNs on three-dimensional (3D) terrain is modeled as a multi-objective optimization problem. The coverage rate of the WSNs, their unbalanced energy consumption, and the number of sensor nodes are used as fitness functions for the optimization problem. We propose a non-dominated sorting genetic algorithm based on a Voronoi diagram (VNSGA) for solving the wireless sensor network deployment issue and improving the QoS of WSNs on 3D terrain. The proposed algorithm applies the Voronoi diagram to obtain the node-sensing radius and communication radius, which are suitable for 3D terrain with respect to calculating the fitness function of the optimization problem. The Pareto optimal solution is obtained by retaining the solution close to the reference point. The experiments compare the proposed algorithm with the Multi-Objective Particle Swarm Algorithm (MOPSO) and the Non-Dominated Sorting Genetic Algorithm III (NSGA-III) on two terrains with different ranges. The experimental results show that the proposed algorithm outperforms the comparison algorithm on both terrains with different range sizes. The proposed algorithm can improve the coverage to 97.95% and reduce the imbalance in energy consumption to 9.13% on large range terrain.