UAV Formation Control via the Virtual Structure Approach
Publication: Journal of Aerospace Engineering
Volume 28, Issue 1
Abstract
In this paper, a new formation flying approach based on virtual structure is presented. In this architecture, formation control strategies are appropriate when a large number of unmanned aerial vehicles (UAVs) are involved. Control laws for formation control are designed based on both classical theory and inverse dynamics, and then a comparison study is performed. The effectiveness of the proposed control strategies is demonstrated through nonlinear 6-degrees of freedom (DOF) simulation.
Get full access to this article
View all available purchase options and get full access to this article.
References
Abdessameud, A., and Tayebi, A. (2009). “Formation control of VTOL-UAVs.” 48th IEEE Conf. on Decision and Control and 28th Chinese Control Conf., Natural Sciences and Engineering Research Council of Canada (NSERC).
Arkin, R. (1995). “Motor schema based formation control for multiagent robot teams.” Proc., 1st Int. Conf. on Multiagent System, Georgia Institute of Technology, Atlanta, GA.
Beard, R. W., Lawton, J., and Hadaegh, F. Y. (2000). “A feedback architecture for formation control.” Proc., American Control Conf., Vol. 6, IEEE Xplore, 4087–4091.
Beard, R. W., Lawton, J., and Hadaegh, F. Y. (2001). “A coordination architecture for spacecraft formation control.” IEEE Trans. Control Syst. Technol., 9(6), 777–790.
Carpenter, J. R. (2002). “Decentralized control of satellite formations.” Int. J. Robust Nonlinear Control, 12(2–3), 141–161.
Dogan, A., and Venkataramanan, S. (2005). “Nonlinear control for reconfiguration of UAV formation.” AIAA J. Guid. Control Dyn., 28(4), 667–678.
Khalil, H. K. (1996). Nonlinear systems, 2nd Ed., Prentice Hall, Upper Saddle River, NJ.
Lalish, E., Morgansen, K. A., and Tsukamaki, T. (2006). “Formation tracking control using virtual Structures and Deconfliction.” 45th IEEE Conf. on Decision and Control, IEEE Xplore, 5699–5705.
Lawton, J., and Beard, R. W. (2000). “Synchronized multiple spacecraft rotations.” Automatica, 38(8), 1359–1364.
Lawton, J., Young, B., and Beard, R. (2003). “A decentralized approach to formation maneuvers.” IEEE Trans. Rob. Autom., 19(6), 933–941.
Li, N. H. M., and Liu, H. H. T. (2008). “Formation UAV flight control using virtual structure and motion synchronization.” American Control Conf., IEEE Xplore, 1782–1787.
Ren, W., and Beard, R. W. (2002). “Virtual structure based spacecraft formation control with formation feedback.” AIAA Guidance, Navigation, and Control Conf. and Exhibition, American Institute of Aeronautics and Astronautics, 1–8.
Ren, W., and Beard, R. W. (2003). “A decentralized scheme for spacecraft formation flying via the virtual structure approach.” Proc., 2003 American Control Conf., Vol. 2, IEEE Xplore, 1746–1751.
Ren, W., and Beard, R. W. (2004). “decentralized scheme for spacecraft formation flying via the virtual structure approach.” J. Guid. Control Dyn., 2(1).
Stevens, B. L., and Lewis, F. L. (1992). Aircraft control and simulation, Wiley, Hoboken, NJ.
Tan, K.-H., and Lewis, M. A. (1996). “Virtual structures for high-precision cooperative mobile robot control.” Proc., 1996 IEEE/RSJ Int. Conf. Intelligent Robots and Systems, Vol. 1, IEEE Xplore, 132–139.
Information & Authors
Information
Published In
Copyright
© 2014 American Society of Civil Engineers.
History
Received: Nov 18, 2011
Accepted: May 13, 2013
Published online: May 15, 2013
Discussion open until: Nov 3, 2014
Published in print: Jan 1, 2015
Authors
Metrics & Citations
Metrics
Citations
Download citation
If you have the appropriate software installed, you can download article citation data to the citation manager of your choice. Simply select your manager software from the list below and click Download.