Dynamics and control of different aircraft formation structures

Abstract

The problem of aircraft formation dynamics and control is investigated from the viewpoint of formation architecture. Three different formation structures, leader-wingman, virtual leader and behavioural approaches are introduced. A comparative study is made using a unified approach through a suitable control law. The formation systems are analyzed on a quantitative basis and objective results are made available for the designer. The trade-off between system performance and complexity is indicated. A complete nonlinear simulation involving a flight-path change and a heading change manoeuvre is discussed. Results show the superiority of a behavioural approach to maintain close formations of vehicles.

Plug and Play Robust Distributed Control with Ellipsoidal Parametric Uncertainty System

“…where ‖ ⋅ ‖ denotes the maximal singular value; the existence of that stable state feedback controller satisfying inequality (12) can be verified by a linear matrix inequality condition [16]. Further this linear matrix inequality condition is a necessary and sufficient condition in the robust control theory.…”

“…into an existing system structure. In order to design controller +1 , we verify whether (16) in Theorem 3 holds; if it holds, then the robust distributed state feedback controller +1 can be chosen as form (43). If the above design process stops, we deem that subsystem (Σ +1 ) cannot plug in.…”

“…Find one appropriate state feedback controller ( ) as in (43). Merge the plug and play idea during the above process to verify all inequalities(16). Construct the original control input as( ) = ( 1 ( ) 2 ( ) ⋅ ⋅ ⋅ ( )) .…”

Examination of the Unmanned Aerial Vehicle

“…The above equations can be written in a typical form of dynamics equations (5) where: M, C and Dare the inertia matrices, centrifugal and Coriolis's forces and gravitational forces of the object respectively [8], [9], [10].…”

“…6. The moment caused by the difference of thrust generated by the engine pairs  gyroscopic effect on the X axis (angle φ) (10) where: -is the matrix of inertia of the propeller, the rotational speed of the body relative to the axis Y.…”