Leader–follower decentralized optimal control for large population hexarotors with tilted propellers: A Stackelberg game approach
DC Field | Value | Language |
---|---|---|
dc.contributor.author | Lee, Myoung Hoon | - |
dc.contributor.author | Nguyen, Ngo Phong | - |
dc.contributor.author | Moon, Jun | - |
dc.date.accessioned | 2022-07-09T09:29:21Z | - |
dc.date.available | 2022-07-09T09:29:21Z | - |
dc.date.created | 2021-05-14 | - |
dc.date.issued | 2019-08 | - |
dc.identifier.issn | 0016-0032 | - |
dc.identifier.uri | https://scholarworks.bwise.kr/hanyang/handle/2021.sw.hanyang/147275 | - |
dc.description.abstract | In this paper, we consider leader–follower decentralized optimal control for a hexarotor group with one leader and large population followers. Our hexarotor is modeled based on the quaternion framework to resolve singularity of the rotation matrix represented by Euler angles, and has 6-DoF due to six tilted propellers, which allows to control its translation and attitude simultaneously. In our problem setup, the leader hexarotor is coupled with the follower hexarotors through the followers’ average behavior (mean field), and the followers are coupled with each other through their average behavior and the leader’s arbitrary control. By using the mean field Stackelberg game framework, we obtain a set of decentralized optimal controls for the leader and N follower hexarotors when N is arbitrarily large, where each control is a function of its local information. We show that the corresponding decentralized optimal controls constitute an ϵ-Stackelberg equilibrium for the leader and N followers, where ϵ → 0 as N → ∞. Through simulations with two different operating scenarios, we show that the leader–follower hexarotors follow their desired position and attitude references, and the followers are controlled by the leader while effectively tracking their approximated average behavior. Furthermore, we show the nonsingularity and 6-DoF control performance of the leader–follower hexarotor group due to the novel modeling technique of the hexarotor presented in the paper. | - |
dc.language | 영어 | - |
dc.language.iso | en | - |
dc.publisher | PERGAMON-ELSEVIER SCIENCE LTD | - |
dc.title | Leader–follower decentralized optimal control for large population hexarotors with tilted propellers: A Stackelberg game approach | - |
dc.type | Article | - |
dc.contributor.affiliatedAuthor | Moon, Jun | - |
dc.identifier.doi | 10.1016/j.jfranklin.2019.05.026 | - |
dc.identifier.scopusid | 2-s2.0-85067189449 | - |
dc.identifier.wosid | 000476898900014 | - |
dc.identifier.bibliographicCitation | JOURNAL OF THE FRANKLIN INSTITUTE-ENGINEERING AND APPLIED MATHEMATICS, v.356, no.12, pp.6175 - 6207 | - |
dc.relation.isPartOf | JOURNAL OF THE FRANKLIN INSTITUTE-ENGINEERING AND APPLIED MATHEMATICS | - |
dc.citation.title | JOURNAL OF THE FRANKLIN INSTITUTE-ENGINEERING AND APPLIED MATHEMATICS | - |
dc.citation.volume | 356 | - |
dc.citation.number | 12 | - |
dc.citation.startPage | 6175 | - |
dc.citation.endPage | 6207 | - |
dc.type.rims | ART | - |
dc.type.docType | 정기학술지(Article(Perspective Article포함)) | - |
dc.description.journalClass | 1 | - |
dc.description.isOpenAccess | N | - |
dc.description.journalRegisteredClass | scie | - |
dc.description.journalRegisteredClass | scopus | - |
dc.relation.journalResearchArea | Automation & Control Systems | - |
dc.relation.journalResearchArea | Engineering | - |
dc.relation.journalResearchArea | Mathematics | - |
dc.relation.journalWebOfScienceCategory | Automation & Control Systems | - |
dc.relation.journalWebOfScienceCategory | Engineering, Multidisciplinary | - |
dc.relation.journalWebOfScienceCategory | Engineering, Electrical & Electronic | - |
dc.relation.journalWebOfScienceCategory | Mathematics, Interdisciplinary Applications | - |
dc.subject.keywordPlus | ATTITUDE-CONTROL | - |
dc.subject.keywordPlus | QUADROTOR UAV | - |
dc.subject.keywordPlus | FIELD | - |
dc.subject.keywordPlus | SYSTEMS | - |
dc.identifier.url | https://www.sciencedirect.com/science/article/pii/S0016003219303886?via%3Dihub | - |
Items in ScholarWorks are protected by copyright, with all rights reserved, unless otherwise indicated.
222, Wangsimni-ro, Seongdong-gu, Seoul, 04763, Korea+82-2-2220-1365
COPYRIGHT © 2021 HANYANG UNIVERSITY.
Certain data included herein are derived from the © Web of Science of Clarivate Analytics. All rights reserved.
You may not copy or re-distribute this material in whole or in part without the prior written consent of Clarivate Analytics.