Formation Flight Control Scheme for Unmanned Aerial Vehicles

Gosiewski, Zdzisław; Ambroziak, Leszek

doi:10.1007/978-1-4471-2343-9_28

Cited by 18 publications

(13 citation statements)

References 10 publications

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“…In [25] linear plant model was employed to design linear proportional plus integral controller formation hold autopilot. The better part of the developed and experimentally verified formation flight control systems are based on leaderfollower configuration, composed of position errors between leader and follower UAVs [26]. During the activation of formation flight mode in the case of large values of position errors and large differences in leader and follower heading, leader following can be problematic and it has been proven during simulation and in flight tests.…”

Section: Introductionmentioning

confidence: 99%

Two stage switching control for autonomous formation flight of unmanned aerial vehicles

Ambroziak

Gosiewski

2015

Aerospace Science and Technology

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Section: Introductionmentioning

confidence: 99%

Two stage switching control for autonomous formation flight of unmanned aerial vehicles

Ambroziak

Gosiewski

2015

Aerospace Science and Technology

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“…Fast development and constantly increasing industrial applicability of unmanned aerial vehicles (UAVs) require new solutions as far as their operation systems are concerned. For instance, modern engineering associated with UAVs focuses especially on developing innovative navigation systems (Gosiewski et al, 2011;Kownacki, 2013), robust control of flight (Mystkowski, 2014), reliable security solutions, efficient electrical engines and power cells, formation of flight control algorithms (Gosiewski and Ambroziak, 2012), adaptive aerodynamics structures (Mystkowski, 2013), applications of so-called intelligent materials, etc. Generally speaking, most works are being carried out in order to increase the level of UAVs autonomy.…”

Section: Introductionmentioning

confidence: 99%

Concept of the magnetic launcher for medium class unmanned aerial vehicles designed on the basis of numerical calculations

Kondratiuk

Ambroziak

2016

jtam

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The paper presents a concept of a magnetic coil launcher for unmanned aerial vehicles of mass up to 25 kg. The idea is not new, nevertheless in the paper, an innovative application of magnetic launcher technology for selected class of unmanned aerial vehicles is presented. So far, at Bialystok University of Technology, a magnetic coil launcher for micro aerial vehicles of mass up to 2.5 kg has been investigated. In the article, simulations of a conceptual multi-coil launcher with a magnetic core system are presented. The finite element method has been used in calculations. Moreover, in the paper, the concept of a magnetic support for transmission of mechanical power from the magnetic core to the launched payload is proposed. The applied methodology, computational results and potential technical difficulties of practical applications are also widely discussed.

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“…Only one control input has been used in this study. Reference [15] controls a formation of three quadcopters using LQR as local controller and PI as formation controller. However, PI controller parameters are chosen experimentally, and the control laws adopted are sensitive to parameter changes.…”

Section: Introductionmentioning

confidence: 99%

“…However, PI controller parameters are chosen experimentally, and the control laws adopted are sensitive to parameter changes. Fixed height of quadcopters is assumed in [14,15].…”

Section: Introductionmentioning

confidence: 99%

Decentralized Control for Scalable Quadcopter Formations

Ali

Montenegro

2016

International Journal of Aerospace Engineering

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An innovative framework has been developed for teamwork of two quadcopter formations, each having its specified formation geometry, assigned task, and matching control scheme. Position control for quadcopters in one of the formations has been implemented through a Linear Quadratic Regulator Proportional Integral (LQR PI) control scheme based on explicit model following scheme. Quadcopters in the other formation are controlled through LQR PI servomechanism control scheme. These two control schemes are compared in terms of their performance and control effort. Both formations are commanded by respective ground stations through virtual leaders. Quadcopters in formations are able to track desired trajectories as well as hovering at desired points for selected time duration. In case of communication loss between ground station and any of the quadcopters, the neighboring quadcopter provides the command data, received from the ground station, to the affected unit. Proposed control schemes have been validated through extensive simulations using MATLAB5/Simulink5 that provided favorable results.

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Formation Flight Control Scheme for Unmanned Aerial Vehicles

Cited by 18 publications

References 10 publications

Two stage switching control for autonomous formation flight of unmanned aerial vehicles

Two stage switching control for autonomous formation flight of unmanned aerial vehicles

Concept of the magnetic launcher for medium class unmanned aerial vehicles designed on the basis of numerical calculations

Decentralized Control for Scalable Quadcopter Formations

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