Event-triggered robust formation control of multi quadrotors for transmission line inspection
This paper proposes an event-triggered formation control scheme to manage the operation of multiple quadrotors in performing the inspection of a power transmission line. In particular, the problem of controlling such multi quadrotors to track the tower and/or cables of the transmission lines is cons...
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| Main Authors: | , , , , |
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| Format: | Article |
| Language: | English |
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Indonesian Institute of Sciences
2024-12-01
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| Series: | Journal of Mechatronics, Electrical Power, and Vehicular Technology |
| Subjects: | |
| Online Access: | https://mev.brin.go.id/mev/article/view/1106 |
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| author | Tua Agustinus Tamba Benedictus Christo Geroda Cinun Yul Yunazwin Nazaruddin Muhammad Zakiyullah Romdlony Bin Hu |
| author_facet | Tua Agustinus Tamba Benedictus Christo Geroda Cinun Yul Yunazwin Nazaruddin Muhammad Zakiyullah Romdlony Bin Hu |
| author_sort | Tua Agustinus Tamba |
| collection | DOAJ |
| description | This paper proposes an event-triggered formation control scheme to manage the operation of multiple quadrotors in performing the inspection of a power transmission line. In particular, the problem of controlling such multi quadrotors to track the tower and/or cables of the transmission lines is considered. A multi-agent sliding mode control method is used for this purpose and is equipped with both a radial basis function neural network as an estimator of environmental wind disturbances, as well as an event-triggered scheduling scheme for the control execution framework. The proposed multi quadrotors control method is designed by considering the transmission tower/cable as the reference sliding surface. Simulation results are presented to illustrate the effectiveness of the proposed multi quadrotors control scheme when implemented in a case scenario of tracking the commonly-encountered shape of transmission cables. Simulation results are presented and show how the implementation of a position error-based event-triggered control enables all UAVs to track the desired position and maintain a pre-determined formation. In particular, all UAVs can minimize the tracking error within 0.05 m after reaching the desired positions since the control signal is updated if the error reaches such an error bound. |
| format | Article |
| id | doaj-art-5fcd405d403c4a56a0a33a8a08afb6b5 |
| institution | OA Journals |
| issn | 2087-3379 2088-6985 |
| language | English |
| publishDate | 2024-12-01 |
| publisher | Indonesian Institute of Sciences |
| record_format | Article |
| series | Journal of Mechatronics, Electrical Power, and Vehicular Technology |
| spelling | doaj-art-5fcd405d403c4a56a0a33a8a08afb6b52025-08-20T02:01:04ZengIndonesian Institute of SciencesJournal of Mechatronics, Electrical Power, and Vehicular Technology2087-33792088-69852024-12-0115219720710.55981/j.mev.2024.1106358Event-triggered robust formation control of multi quadrotors for transmission line inspectionTua Agustinus Tamba0Benedictus Christo Geroda Cinun1Yul Yunazwin Nazaruddin2Muhammad Zakiyullah Romdlony3Bin Hu4Parahyangan Catholic UniversityParahyangan Catholic UniversityBandung Institute of TechnologyTelkom UniversityUniversity of HoustonThis paper proposes an event-triggered formation control scheme to manage the operation of multiple quadrotors in performing the inspection of a power transmission line. In particular, the problem of controlling such multi quadrotors to track the tower and/or cables of the transmission lines is considered. A multi-agent sliding mode control method is used for this purpose and is equipped with both a radial basis function neural network as an estimator of environmental wind disturbances, as well as an event-triggered scheduling scheme for the control execution framework. The proposed multi quadrotors control method is designed by considering the transmission tower/cable as the reference sliding surface. Simulation results are presented to illustrate the effectiveness of the proposed multi quadrotors control scheme when implemented in a case scenario of tracking the commonly-encountered shape of transmission cables. Simulation results are presented and show how the implementation of a position error-based event-triggered control enables all UAVs to track the desired position and maintain a pre-determined formation. In particular, all UAVs can minimize the tracking error within 0.05 m after reaching the desired positions since the control signal is updated if the error reaches such an error bound.https://mev.brin.go.id/mev/article/view/1106event-triggered controlformation controlmulti-agent systemsradial basis functionsliding mode control. |
| spellingShingle | Tua Agustinus Tamba Benedictus Christo Geroda Cinun Yul Yunazwin Nazaruddin Muhammad Zakiyullah Romdlony Bin Hu Event-triggered robust formation control of multi quadrotors for transmission line inspection Journal of Mechatronics, Electrical Power, and Vehicular Technology event-triggered control formation control multi-agent systems radial basis function sliding mode control. |
| title | Event-triggered robust formation control of multi quadrotors for transmission line inspection |
| title_full | Event-triggered robust formation control of multi quadrotors for transmission line inspection |
| title_fullStr | Event-triggered robust formation control of multi quadrotors for transmission line inspection |
| title_full_unstemmed | Event-triggered robust formation control of multi quadrotors for transmission line inspection |
| title_short | Event-triggered robust formation control of multi quadrotors for transmission line inspection |
| title_sort | event triggered robust formation control of multi quadrotors for transmission line inspection |
| topic | event-triggered control formation control multi-agent systems radial basis function sliding mode control. |
| url | https://mev.brin.go.id/mev/article/view/1106 |
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