Robust Cooperative Close Formation Flight Control Of Multiple Unmanned Aerial Vehicles
| dc.contributor.author | Zhang, Qingrui | |
| dc.contributor.author | Liu, Hugh H. T. | |
| dc.date.accessioned | 2018-11-06T14:30:48Z | |
| dc.date.available | 2018-11-06T14:30:48Z | |
| dc.date.issued | May-18 | |
| dc.description.abstract | This paper investigates the close formation control problem of multiple unmanned aerial vehicles (UAVs). A robust cooperative control algorithm is proposed in light of the uncertainty and disturbance estimation technique. In the proposed design, each UAV is assigned a virtual leader which defines the desired position for the corresponding UAV in close formation. Bidirectional communication topology is assumed for UAVs in close formation, based on which a cooperative control law is thereafter established on each UAV. Model uncertainties and formation aerodynamic disturbances are efficiently estimated and compensated using a uncertainty and disturbance estimator. Eventually, the efficacy of the proposed design will be validated via the close formation simulation of five aircraft. | |
| dc.identifier | CSME235 | |
| dc.identifier.issn | 978-1-77355-023-7 | |
| dc.identifier.uri | http://hdl.handle.net/10315/35252 | |
| dc.identifier.uri | http://dx.doi.org/10.25071/10315/35252 | |
| dc.language.iso | en | en_US |
| dc.publisher | CSME-SCGM | en_US |
| dc.rights | The copyright for the paper content remains with the author. | |
| dc.subject | Mechatronics | |
| dc.subject | Robots and Control | |
| dc.subject | Transportation Systems | |
| dc.subject | Component | |
| dc.subject | Close formation control | |
| dc.subject | Cooperative control | |
| dc.subject | Multi-UAV | |
| dc.subject | Uncertainty and disturbance estimation | |
| dc.subject.keywords | Mechatronics | |
| dc.title | Robust Cooperative Close Formation Flight Control Of Multiple Unmanned Aerial Vehicles | en_US |
| dc.type | Article | en_US |