Title :
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
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;
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
DOI :
10.1109/SSST.2006.1619084
