A synchronization strategy for three dimensional decentralized formation control of unmanned aircrafts

Author

Rezaee, Hamed ; Abdollahi, Farzaneh

Author_Institution

Dept. of Electr. Eng., AmirKabir Univ. of Technol., Tehran, Iran

fYear

2011

fDate

7-10 Nov. 2011

Firstpage

462

Lastpage

467

Abstract

In this paper, a three dimensional formation control strategy for multiple unmanned aircrafts systems is proposed based on the virtual structure. A novel synchronization control strategy is employed to improve the convergence of the unmanned aircrafts and increase the robustness of the system due to faults in unmanned aircrafts´ actuators. The proposed approach is decentralized which increases its reliability in long maneuvers when the agents are flying far from stations. Simulation results for a team of four unmanned aircrafts to form a pyramid formation in the frame of the virtual leader confirm the efficiency of the proposed approach.

Keywords

actuators; autonomous aerial vehicles; decentralised control; multi-robot systems; multiple unmanned aircraft systems; synchronization control strategy; three dimensional decentralized formation control strategy; unmanned aircraft actuators; unmanned aircraft team; virtual leader; virtual structure; Convergence; Equations; Sensors; Synchronization; Trajectory; Unmanned aerial vehicles; Vectors; Multi-agent systems; formation flight; motion synchronization; unmanned aircrafts;

fLanguage

English

Publisher

ieee

Conference_Titel

IECON 2011 - 37th Annual Conference on IEEE Industrial Electronics Society

Conference_Location

Melbourne, VIC

ISSN

1553-572X

Print_ISBN

978-1-61284-969-0

Type

conf

DOI

10.1109/IECON.2011.6119355

Filename

6119355