Robust autopilot for close formation flight of multi-UAVs

Author

Bin Li ; Liao, X.H. ; Sun, Z. ; Li, Bin ; Song, Y.D.

Author_Institution

Dept. of Electr. & Comput. Eng., North Carolina A&T State Univ., Greensboro, NC

fYear

2006

Firstpage

294

Lastpage

298

Abstract

Close formation control of multi-UAVs with autopilot is studied in this paper. We focus on the heading speed, heading angle and altitude tracking control issue of leading-follower UAVs. Robust control algorithms are proposed to achieve close formation maneuver under varying flight conditions. It is shown via Lyapunov stability theory that the proposed method is effective in dealing system uncertainties and external disturbances due to vortex arisen from close formation. Simulation study is conducted as a verification

Keywords

Lyapunov methods; aerospace robotics; aircraft control; mobile robots; multi-robot systems; position control; remotely operated vehicles; robust control; telerobotics; uncertain systems; Lyapunov stability; altitude tracking control; close formation control; close formation flight; multi-UAVs; robust autopilot; system uncertainties; Aerodynamics; Control systems; Cooperative systems; Equations; Error correction; Lyapunov method; Robust control; Robustness; Unmanned aerial vehicles; Vehicle dynamics;

fLanguage

English

Publisher

ieee

Conference_Titel

System Theory, 2006. SSST '06. Proceeding of the Thirty-Eighth Southeastern Symposium on

Conference_Location

Cookeville, TN

Print_ISBN

0-7803-9457-7

Type

conf

DOI

10.1109/SSST.2006.1619084

Filename

1619084