Behavior-based acceleration commanded formation flight control

Abstract

In this paper, the design of a formation flight controller is investigated. Each vehicle in the formation is controlled by designing two separate control loops. The formation flight controller placed in the outer loop employs behavior-based control as a distributed control strategy to steer the vehicle by producing acceleration commands and the control system placed in the inner loop is to convert these commands to the actuator commands. Leader following architecture is applied to define the structure for the …