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Robust Cooperative Close Formation Flight Control Of Multiple Unmanned Aerial Vehicles

Robust Cooperative Close Formation Flight Control Of Multiple Unmanned Aerial Vehicles

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Title: Robust Cooperative Close Formation Flight Control Of Multiple Unmanned Aerial Vehicles
Author: Zhang, Qingrui
Liu, Hugh H. T.
Identifier: CSME235
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.
Subject: Mechatronics
Robots and Control
Transportation Systems
Component
Close formation control
Cooperative control
Multi-UAV
Uncertainty and disturbance estimation
Type: Article
Rights: The copyright for the paper content remains with the author.
URI: http://hdl.handle.net/10315/35252
http://dx.doi.org/10.25071/10315/35252
Published: CSME-SCGM
ISSN: 978-1-77355-023-7
Date: 2018-05

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