Formation flight control - A behavioral approach

Giulietti, Fabrizio; Innocenti, Mario; Pollini, Lorenzo

doi:10.2514/6.2001-4239

Cited by 48 publications

(32 citation statements)

References 2 publications

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“…또한, 통신 지 연 등의 문제는 전체 편대기동 성능을 크게 떨어 뜨릴 수 있다. 두 번째 기법은 분산형 (decentrali zed) 기법으로서 편대를 이루는 복수의 무인기들 이 주변 무인기들의 정보만을 활용함으로서 독립 적인 의사결정을 보장할 수 있는 기법이다 [4][5][6][7][8][9][10][11][12].…”

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Development of robust flocking control law for multiple UAVs using behavioral decentralized method

Shin¹,

Kim²,

Suk³

2015

Journal of the Korean Society for Aeronautical & Space Scie

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Development of robust flocking control law for multiple UAVs using behavioral decentralized method

Shin¹,

Kim²,

Suk³

2015

Journal of the Korean Society for Aeronautical & Space Scie

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“…A similar design strategy of a formation controller is discussed in Ref. 4). An autopilot to assure local asymptotic stability of the formation as well as global stability of the overall system was designed using a feedback linearization technique based on the dynamics of relative positions between the vehicles.…”

Section: Introductionmentioning

confidence: 99%

Guidance Law for Formation Flight with Terminal Time Constraint

Min

Ryoo

Tahk

2014

Trans. Japan Soc. Aero. S Sci.

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This paper proposes a new formation guidance law for multiple UAVs in a three-dimensional space. The proposed formation guidance law produces a velocity command vector of a wingman to form a prescribed formation shape at a specified formation time. The guidance command ensures that the time derivative of a Lyapunov function defined as the square of zero-effort-miss between a wingman and a desired formation position is negative definite during the flight. The velocity command vector is then transformed to typical autopilot inputs of a UAV: speed, flight path angle and heading angle commands. The performance of the proposed law is evaluated using a full nonlinear 6-DOF UAV model in the cases of formation shaping, formation keeping, and formation re-shaping when the leader is accelerating. Simulation results show that the proposed law maintains the formation keeping well and precisely achieves the given shape of formation even when the leader is accelerating.

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“…In Giulietti et al (2001) a formation flight control scheme was proposed based on the concept of formation geometry center, which is also known as the formation virtual leader. More complex control laws based on Linear Quadratic Regulator (LQR) and DI approaches have also been proposed in Schumacher and Kumar (2000) and Singh et al 2000.…”

Section: Introductionmentioning

confidence: 99%

A Novel Integrated Guidance and Control System Design in Formation Flight

Sadeghi

Abaspour

Sadati

2015

J.Aerosp. Technol. Manag.

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Bird's formation flight is one of the best types of cooperation in nature. The bird's flight was the motivation of humans for flying. After one century of flight development, bird's formation flight was the motivation of humans for aircraft's formation flight. The closeness of aircrafts in formation flight and the effect of disturbances such as vortex make the formation flight control a challenging issue for control designers. This paper introduces a novel integration between guidance commands and system controller inputs. In recent papers the control system inputs were derived from approximate equations, and this approximation caused maneuver limitation. To tackle this problem, a new method is introduced, which employs proportional-integral-derivative (PID) controller in the integration block. This integrated guidance and control system employs the pure pursuit guidance to determine the unmanned aerial vehicle's acceleration command. A two-loop dynamic inversion technique is used for designing attitude and velocity controller, while the acceleration feedback control is used between the guidance system and attitude controller, which leads to increase in maneuverability of unmanned aerial vehicle's formation flight. The simulation results show that the proposed method can control the UAV's formation with sufficient accuracy in severe maneuvers.

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Formation flight control - A behavioral approach

Cited by 48 publications

References 2 publications

Development of robust flocking control law for multiple UAVs using behavioral decentralized method

Development of robust flocking control law for multiple UAVs using behavioral decentralized method

Guidance Law for Formation Flight with Terminal Time Constraint

A Novel Integrated Guidance and Control System Design in Formation Flight

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