Robust formation and reconfiguration control of multiple VTOL UAVs: Design and flight test

Fang Liao, Xiangxu Dong, Feng Lin, Rodney Teo, Jian Liang Wang

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

1 Citation (Scopus)

Abstract

In this paper, a distributed robust feedback control strategy with inter-vehicle collision avoidance is proposed for formation and reconfiguration control of a team of VTOL UAVs. A potential-field approach is used to generate a desired velocity for each UAV which ensures that the team of UAVs can perform formation and reconfiguration, avoid inter-vehicle collision as well as track a specified virtual leader. Each UAV is controlled to track its desired velocity subject to dynamic constraints. The proposed feedback control is robust against error disturbances due to dynamic constraints and measurement noise. A formation flight test of three quadrotor UAVs demonstrates the effectiveness and robustness of the proposed formation control strategy.

Original languageEnglish
Title of host publication2014 22nd Mediterranean Conference on Control and Automation, MED 2014
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages1440-1445
Number of pages6
ISBN (Electronic)9781479959006
DOIs
Publication statusPublished - 18 Nov 2014
Externally publishedYes
Event22nd Mediterranean Conference on Control and Automation, MED 2014 - Palermo, Italy
Duration: 16 Jun 201419 Jun 2014

Publication series

Name2014 22nd Mediterranean Conference on Control and Automation, MED 2014

Conference

Conference22nd Mediterranean Conference on Control and Automation, MED 2014
Country/TerritoryItaly
CityPalermo
Period16/06/1419/06/14

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Computer Networks and Communications
  • Computer Science Applications
  • Information Systems

Fingerprint

Dive into the research topics of 'Robust formation and reconfiguration control of multiple VTOL UAVs: Design and flight test'. Together they form a unique fingerprint.

Cite this