Resilient cross-domain cooperative control of heterogeneous multi-agent systems composed of UGVs and FWM-UAVs

ongoing

The research action involves an experienced applicant, Dr Qing-Hao Zhang, under the supervision of Dr. Chongfeng Wei for 24 months to work on the project “Resilient cross-domain cooperative control of heterogeneous multi-agent systems composed of UGVs and FWM-UAVs” (RECOVER) at the James Watt School of Engineering, University of Glasgow in the UK. The overall aim of the project is to develop resilient cross-domain cooperative control strategies such that heterogeneous multi-agent systems (MASs) composed of unmanned ground vehicles (UGVs) and flapping wing micro unmanned aerial vehicles (FWM-UAVs) can maintain consensus and formation under uncertainties and external disturbance. RECOVER will fill the existing knowledge gap by establishing novel and distinctive cross-domain models and designing resilient and robust cross-domain cooperative controllers. In RECOVER, in case the systems are with uncertainties and external disturbances, the proposed controllers are able “recover” the systems to the expected consensus and formation state in different domains. Firstly, the innovative models for heterogeneous MASs will be developed (WP1). Based on WP1, the resilient cross-domain distributed consensus and formation control protocols will be designed for heterogeneous MASs with mixed uncertainties (WP2). Based on WP2, the cross-domain distributed adaptive disturbance detectors and the high-performance resilient and robust control protocols will be given (WP3). Then, a comprehensive platform composed of a simulation platform, physical experiment platform and cloud control platform will be built to assess the effectiveness of the results in WP1, WP2 and WP3 (WP4). During and after RECOVER, dissemination, outreach and research activities will be undertaken to share the research findings with different target audience (WP5), maximizing the impact and practical application of the RECOVER's outcomes.