TY - GEN
T1 - Robust formation and reconfiguration control for nonholonomic UAVs with dynamic constraints
AU - Liao, Fang
AU - Teo, Rodney
AU - Wang, Jian Liang
AU - Peng, Kemao
PY - 2013
Y1 - 2013
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=84883711813&partnerID=8YFLogxK
M3 - Conference contribution
AN - SCOPUS:84883711813
SN - 9781624102240
T3 - AIAA Guidance, Navigation, and Control (GNC) Conference
BT - AIAA Guidance, Navigation, and Control (GNC) Conference
T2 - AIAA Guidance, Navigation, and Control (GNC) Conference
Y2 - 19 August 2013 through 22 August 2013
ER -