Group control and string stability for UAV kinematic and dynamic models

被引：0
|
作者：
Arogeti, Shai [1 ]
Ailon, Amit [2 ,3 ]
机构：
[1] Ben Gurion Univ Negev, Dept Mech Engn, IL-84015 Beer Sheva, Israel
[2] Ben Gurion Univ Negev, Dept Elect & Comp Engn, IL-84015 Beer Sheva, Israel
[3] Afeka Acad Coll Engn, Dept Elect Engn, IL-69107 Tel Aviv, Israel
来源：
2017 WORKSHOP ON RESEARCH, EDUCATION AND DEVELOPMENT OF UNMANNED AERIAL SYSTEMS (RED-UAS) | 2017年
关键词：
Unmanned aerial vehicle; kinematic and dynamic equations; tracking controller; string-like formation; string stability; TRAJECTORY TRACKING; FORMATION FLIGHT; VEHICLES; SYSTEMS;
D O I：
暂无
中图分类号：
V [航空、航天];
学科分类号：
08 ; 0825 ;
摘要：
The paper considers control issues in a multi-UAV system as both kinematics and dynamics are intertwined in the mathematical model of the aerial vehicles. To obtain an effective controller for the augmented model of the group members we apply the backstepping procedure. Special attention is given to control a group in a string-like formation and to ensure string stability for reducing the spacing error propagation between vehicles along the string. Finally, demonstrations of the performance and the efficiency of the proposed control algorithms in fulfilling various group tasks, will be presented.
引用
收藏
页码：96 / 101
页数：6
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