Full metadata record
DC Field | Value | Language |
---|---|---|
dc.contributor.author | 문준 | - |
dc.date.accessioned | 2020-09-09T01:52:14Z | - |
dc.date.available | 2020-09-09T01:52:14Z | - |
dc.date.issued | 2019-08 | - |
dc.identifier.citation | JOURNAL OF THE FRANKLIN INSTITUTE-ENGINEERING AND APPLIED MATHEMATICS, v. 356, no. 12, Page. 6175-6207 | en_US |
dc.identifier.issn | 0016-0032 | - |
dc.identifier.issn | 1879-2693 | - |
dc.identifier.uri | https://www.sciencedirect.com/science/article/pii/S0016003219303886?via%3Dihub | - |
dc.identifier.uri | https://repository.hanyang.ac.kr/handle/20.500.11754/153675 | - |
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 epsilon-Stackelberg equilibrium for the leader and N followers, where epsilon -> 0 as N -> infinity. 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. (C) 2019 The Franklin Institute. Published by Elsevier Ltd. All rights reserved. | en_US |
dc.description.sponsorship | This research was supported by the National Research Foundation of Korea (NRF) Grant funded by the Ministry of Science and ICT (NRF-2017R1A5A1015311). Also, this work was supported by the 2019 Research Fund of the University of Seoul for Jun Moon. | en_US |
dc.language.iso | en | en_US |
dc.publisher | PERGAMON-ELSEVIER SCIENCE LTD | en_US |
dc.subject | ATTITUDE-CONTROL | en_US |
dc.subject | QUADROTOR UAV | en_US |
dc.subject | FIELD | en_US |
dc.subject | SYSTEMS | en_US |
dc.title | Leader–follower decentralized optimal control for large population hexarotors with tilted propellers: A Stackelberg game approach | en_US |
dc.type | Article | en_US |
dc.identifier.doi | 10.1016/j.jfranklin.2019.05.026 | - |
dc.relation.journal | JOURNAL OF THE FRANKLIN INSTITUTE-ENGINEERING AND APPLIED MATHEMATICS | - |
dc.contributor.googleauthor | Lee, Myoung Hoon | - |
dc.contributor.googleauthor | Nguyen, Ngo Phong | - |
dc.contributor.googleauthor | Moon, Jun | - |
dc.relation.code | 2019037205 | - |
dc.sector.campus | S | - |
dc.sector.daehak | COLLEGE OF ENGINEERING[S] | - |
dc.sector.department | DIVISION OF ELECTRICAL AND BIOMEDICAL ENGINEERING | - |
dc.identifier.pid | junmoon | - |
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