Cooperative Motion Control of a Formation of UAVs

• Type: Article in International Conference Proceedings Book
• Date: 2015

Authors

Rodrigues, RT (Author) Other; Aguiar, AP (Author) FEUP

Conference proceedings International

Title: 2015 International Conference on Unmanned Aircraft Systems, ICUAS 2015

Pages: 886-893

2015 International Conference on Unmanned Aircraft Systems, ICUAS 2015

9 June 2015 through 12 June 2015

Indexing

ISI Web of Knowledge - 0 Citations

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Other information

Authenticus ID: P-00G-NDH

DOI: 10.1109/icuas.2015.7152375

Abstract (EN): We address a cooperative motion control problem for a fleet of Unmanned Aerial Vehicles (UAVs). The problem partially decouples in two tasks: path-following and coordination control. The former requires the vehicle to converge and follow a desired path with no temporal constraints. The latter coordinates the elements in a fleet to travel on a desired pattern. In this paper we provide a practical and correctly provable solution by resorting to Lyapunov based nonlinear techniques to explicitly take into account the nonlinearities inherent to the mathematical model, graph theory to describe the inter-vehicle communication topology, and supported by Flight Variable Management System (FVMS) and Microsoft Flight Simulator (MSFS) to evaluate the proposed method through by Software in the Loop (SiL) simulations. Moreover, coordination in a switching communication topology is achieved.

Language: English

Type (Professor's evaluation): Scientific

No. of pages: 8