Robust formation and reconfiguration control for nonholonomic UAVs with dynamic constraints

Fang Liao, Rodney Teo, Jian Liang Wang, Kemao Peng

Research output: Chapter in Book/Conference proceedingConference contributionpeer-review

4 Citations (Scopus)

Abstract

In this paper, an unified robust feedback control strategy with inter-vehicle collision avoidance is proposed for formation and reconfiguration control of a team of nonholonomic UAVs with dynamic constraints. This strategy consists of distributed cascade feedback control of a team of UAVs and applies consensus concept to form and reconfigure formation flying. In the outer-loop of the cascade control, a potential-field based approach is used to generate a desired velocity for each UAV which makes sure that the team of UAVs can perform formation flying and reconfiguration as well as avoid inter-vehicle collision. In the inner-loop of the cascade control, the velocity of each UAV is designed to track its desired velocity generated by the outer-loop based on a common velocity platform subject to dynamic constraints. The proposed feedback control is robust against error disturbances due to dynamic constraints and measurement noise. An example is used to demonstrate the effectiveness of the proposed approach.

Original languageEnglish
Title of host publicationAIAA Guidance, Navigation, and Control (GNC) Conference
Publication statusPublished - 2013
Externally publishedYes
EventAIAA Guidance, Navigation, and Control (GNC) Conference - Boston, MA, United States
Duration: 19 Aug 201322 Aug 2013

Publication series

NameAIAA Guidance, Navigation, and Control (GNC) Conference

Conference

ConferenceAIAA Guidance, Navigation, and Control (GNC) Conference
Country/TerritoryUnited States
CityBoston, MA
Period19/08/1322/08/13

ASJC Scopus subject areas

  • Aerospace Engineering
  • Control and Systems Engineering
  • Electrical and Electronic Engineering

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