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: Proceedings of the IEEE Conference on Decision and Control

Pages: 591-596

2011 50th IEEE Conference on Decision and Control and European Control Conference, CDC-ECC 2011

Orlando, FL, 12 December 2011 through 15 December 2011

Indexing

ISI Web of Knowledge - 2 Citations

Scopus - 13 Citations

Scientific classification

FOS: Engineering and technology > Electrical engineering, Electronic engineering, Information engineering

CORDIS: Technological sciences > Engineering > Control engineering > Robótica Robotics

Other information

Authenticus ID: P-00F-JF2

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. © 2011 IEEE.

Language: English

Type (Professor's evaluation): Scientific

No. of pages: 6