Adaptive synchronized attitude angular velocity tracking control of multi-UAVs

Author

Liu, Hugh H T ; Shan, Jinjun

Author_Institution

Inst. for Aerosp. Studies, Toronto Univ., Ont., Canada

fYear

2005

fDate

8-10 June 2005

Firstpage

128

Abstract

An adaptive synchronization strategy is proposed and applied to the attitude angular velocity tracking control of multiple unmanned aerial vehicles (UAVs). It achieves global asymptotic convergence of both the attitude angular velocity tracking and the angular velocity synchronization, even in the presence of system parameter uncertainties. Simulation results of multiple UAVs in coordination verify the effectiveness of the proposed approach.

Keywords

adaptive control; aerospace robotics; angular velocity control; asymptotic stability; attitude control; multi-robot systems; remotely operated vehicles; synchronisation; tracking; uncertain systems; UAV coordination; adaptive control; adaptive synchronization strategy; angular velocity; attitude control; global asymptotic convergence; multiUAV control; multiple unmanned aerial vehicles; synchronized control; system parameter uncertainties; tracking control; Adaptive control; Angular velocity; Angular velocity control; Attitude control; Convergence; Equations; Programmable control; Robot kinematics; Uncertain systems; Unmanned aerial vehicles;

fLanguage

English

Publisher

ieee

Conference_Titel

American Control Conference, 2005. Proceedings of the 2005

ISSN

0743-1619

Print_ISBN

0-7803-9098-9

Electronic_ISBN

0743-1619

Type

conf

DOI

10.1109/ACC.2005.1469920

Filename

1469920