Formation Control with Collision Avoidance

• Type: Article in International Conference Proceedings Book
• Date: 2011

Authors

R. A. G. Bencatel (Author) Other; Faied, M (Author) Other; João Tasso Sousa (Author) FEUP; Girard, AR (Author) Other

Conference proceedings International

Title: 2011 50TH IEEE CONFERENCE ON DECISION AND CONTROL AND EUROPEAN CONTROL CONFERENCE (CDC-ECC)

Pages: 591-596

50th IEEE Conference of Decision and Control (CDC)/European Control Conference (ECC)

Orlando, FL, DEC 12-15, 2011

Indexing

ISI Web of Knowledge - 9 Citations

Scopus - 13 Citations

Other information

Authenticus ID: P-002-WDR

DOI: 10.1109/cdc.2011.6160637

Abstract (EN): We present a formation flight control strategy featuring a collision avoidance scheme. The control algorithm is based on a Sliding Mode controller. The controller sliding surfaces account for aircraft maneuvering limitations, restricting the required velocities to a feasible set. Further, the relative position between vehicles affects the sliding surfaces shape, enabling collision avoidance. The control method derivation is based on an extended unicycle model, resulting in a controller adequate for fixed wing aircraft.

Language: English

Type (Professor's evaluation): Scientific

No. of pages: 6