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Robust Cooperative Close Formation Flight Control Of Multiple Unmanned Aerial Vehicles

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Date

May-18

Authors

Zhang, Qingrui
Liu, Hugh H. T.

Journal Title

Journal ISSN

Volume Title

Publisher

CSME-SCGM

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.

Description

Keywords

Mechatronics, Robots and Control, Transportation Systems, Component, Close formation control, Cooperative control, Multi-UAV, Uncertainty and disturbance estimation

Citation