Multiple UAVs Formation Flight Experiments Using Virtual Structure and Motion Synchronization

Author(s):  
Norman Li ◽  
Hugh Liu
2017 ◽  
Vol 121 (1241) ◽  
pp. 877-900 ◽  
Author(s):  
Y. Xu ◽  
Z. Zhen

ABSTRACTThe Unmanned Aerial Vehicles (UAVs) become more and more popular due to various potential application fields. This paper studies the distributed leader-follower formation flight control problem of multiple UAVs with uncertain parameters for both the leader and followers. This problem has not been addressed in the literature. Most of the existing literature considers the leader-follower formation control strategy with parametric uncertainty for the followers. However, they do not take the leader parametric uncertainty into account. Meanwhile, the distributed control strategy depends on less information interactions and is more likely to avoid information conflict. The dynamic model of the UAVs is established based on the aerodynamic parameters. The establishment of the topology structure between a collection of UAVs is based on the algebraic graph theory. To handle the parametric uncertainty of the UAVs dynamics, a multivariable model reference adaptive control (MRAC) method is addressed to design the control law, which enables follower UAVs to track the leader UAV. The stability of the formation flight control system is proved by the Lyapunov theory. Simulation results show that the proposed distributed adaptive leader-following formation flight control system has stronger robustness and adaptivity than the fixed control system, as well as the existing adaptive control system.


2014 ◽  
Vol 61 (11) ◽  
pp. 6175-6182 ◽  
Author(s):  
Hamed Rezaee ◽  
Farzaneh Abdollahi ◽  
Heidar A. Talebi

2010 ◽  
Vol 1 (2) ◽  
pp. 1-17
Author(s):  
Xiangyin Zhang ◽  
Haibin Duan ◽  
Shan Shao ◽  
Yunhui Wang

Close formation flight is one of the most complicated problems on multiple Uninhabited Aerial Vehicles (UAVs) coordinated control. This paper proposes a new method to achieve close formation tracking control of multiple UAVs by applying Particle Swarm Optimization (PSO) based Proportional plus Integral (PI) controller. Due to its simple structure and effectiveness, multi-criteria PI control strategy is employed to design the controller for multiple UAVs formation, while PSO is used to optimize the controller parameters on-line. With the inclusion of overshoot, rise time, and system accumulated absolute error in the multi-criteria performance index, the overall performance of multi-criteria PI controller is optimized to be satisfactory. Simulation results show the feasibility and effectiveness of the proposed approach.


Author(s):  
Yong-Kyu Song ◽  
Chang-Hwan Heo ◽  
Sang-Jun Lee ◽  
Jung-Han Kim

2021 ◽  
Vol 101 (3) ◽  
Author(s):  
Bruno R. O. Floriano ◽  
Geovany A. Borges ◽  
Henrique C. Ferreira ◽  
João Y. Ishihara

Sign in / Sign up

Export Citation Format

Share Document