Title :
A novel backstepping method for the three-dimensional multi-UAVs formation control
Author :
Huan Liu ; Xiangke Wang ; Huayong Zhu
Author_Institution :
Coll. of Mechatron. Eng. & Autom., Nat. Univ. of Defense Technol., Changsha, China
Abstract :
In this paper, we propose a control method based on the backstepping technique and leader-follower strategy for the multiple Unmanned Aerial Vehicles (UAVs) formation control in three-dimensional space. Compared with the existing methods, the main contribution of the proposed algorithm is aiming to the dynamics of the UAV with the control inputs of the load factors rather than the angles of the rudders, which is commonly used in actual modern flight control. In addition, to solve the problem of the communication jam, we adopt the state estimation method based on the graph theory. Finally, the numerical simulations are performed to show the effectiveness of the proposed method.
Keywords :
autonomous aerial vehicles; graph theory; numerical analysis; state estimation; backstepping method; communication jam; flight control; graph theory; leader-follower strategy; load factors; multiple unmanned aerial vehicles; numerical simulations; state estimation method; three-dimensional multi-UAV formation control; three-dimensional space; Aerospace electronics; Backstepping; Field-flow fractionation; Mathematical model; State estimation; Topology; Vehicle dynamics; UAV formation; backstepping method; load factor; state estimation;
Conference_Titel :
Mechatronics and Automation (ICMA), 2015 IEEE International Conference on
Conference_Location :
Beijing
Print_ISBN :
978-1-4799-7097-1
DOI :
10.1109/ICMA.2015.7237609
