Formation control using generalized coordinates

Abstract

This paper develops a control methodology which allows a number of vehicles to move as a group while maintaining a desired formation pattern. The control is based on the use of generalized coordinates. These coordinates characterize the location (L), orientation (O), and shape (S) of the formation. This provides a natural and convenient way of specifying configuration and allows the group to be controlled as a single entity. Both force-based and velocity-based controls are developed, as well as a simplified implementation with reduced communication requirements. 43rd IEEE Conference on Decision and Control

Leaderless Formation Control using Dynamic Extension and Sliding Control

“…A related, mesh-stable approach for helicopters can be found in (Pant et al [2001]). A design for fixed wing aircraft can be found in (Spry and Hedrick [2004]). …”

“…. In addition, moving vehicles as a group simplifies path planning, as a single path can be specified for the group with an associated formation shape (Spry and Hedrick [2004]). …”

Dynamical adaptive synchronization

“…Based on the theory of observer or adaptive observer design this scheme typically provides convergence of synchronization error to zero, that results in uniquely defined position of followers with respect to the leader. For example, in formation control problem [24,25] each vehicle has a fixed position with respect to formation reference point. Therefore the formation point can be viewed as a virtual leader for formation of vehicles.…”

UAVs Dynamic Mission Management in Adversarial Environments

“…Multiple-UAV control strategies are emerging, for example, in battlefield scenarios where N UAVs are assigned to strike T known targets in the presence of dynamic threats [18,19] and in the fields of synchronized path planning and cooperative rendezvous problems where multiple UAVs must arrive at their targets simultaneously [18,[20][21][22][23]. Cooperative strategies have also been considered, for example, in [24], which considers cooperative search strategies under collision avoidance and communication range constraints, and in [25], which presents a completely decentralized, hybrid systems approach and does not require that the UAVs stay within communication range of each other, as well as in [26,27] which consider formation flight problems. Other approaches to supervision and control of multiple UAVs are considered in [28,29].…”