Coordinated path following of multiple UAVs for time-critical missions in the presence of time-varyi

• Type: Article in International Conference Proceedings Book
• Date: 2008

Authors

Aguiar, AP (Author) Other; Kaminer, I (Author) Other; Ghabcheloo, R (Author) Other; Pascoal, AM (Author) Other; Hovakimyan, N (Author) Other; Cao, C (Author) Other; Dobrokhodov, V (Author) Other; Xargay, E (Author) Other

Conference proceedings International

Title: IFAC Proceedings Volumes (IFAC-PapersOnline)

17th World Congress, International Federation of Automatic Control, IFAC

Seoul, 6 July 2008 through 11 July 2008

Indexing

ISI Web of Knowledge

Scopus - 4 Citations

Other information

Authenticus ID: P-008-S9N

DOI: 10.3182/20080706-5-kr-1001.3496

Abstract (EN): We address the problem of steering multiple unmanned air vehicles (UAVs) along given paths (path-following) under strict temporal coordination constraints requiring, for example, that the vehicles arrive at their final destinations at exactly the same time. Path-following relies on a nonlinear Lyapunov based control strategy derived at the kinematic level with the augmentation of existing autopilots with ${cal L}-1$ adaptive output feedback control laws to obtain inner-outer loop control structures with guaranteed performance. Multiple vehicle time-critical coordination is achieved by enforcing temporal constraints on the speed profiles of the vehicles along their paths in response to information exchanged over a dynamic communication network. We consider that each vehicle transmits its coordination state to only a subset of the other vehicles, as determined by the communications topology adopted. We address explicitly the case where the communication graph that captures the underlying communication network topology may be disconnected during some interval of time (or may even fail to be connected at any instant of time) and provide conditions under which the closed-loop system is stable. Flight test results obtained at Camp Roberts, CA in 2008 and hardware-in-the-loop (HITL) simulations demonstrate the benefits of the algorithms developed. Copyright

Language: English

Type (Professor's evaluation): Scientific