Communication free leader-follower formation control of unmanned aircraft systems

被引：50
|
作者：
Dehghani, Mohammad A. [1 ]
Menhaj, Mohammad B. [1 ]
机构：
[1] Amirkabir Univ Technol, Ctr Excellence Control & Robot, Dept Elect Engn, Tehran Polytech, Tehran, Iran
来源：
ROBOTICS AND AUTONOMOUS SYSTEMS | 2016年 / 80卷
关键词：
Disturbance compensator; Formation flight; Leader-follower; Unmanned fixed-wings aircraft; MOBILE ROBOTS; GUIDANCE; TRACKING;
D O I：
10.1016/j.robot.2016.03.008
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This paper proposes a formation control strategy for unmanned aircraft under which there is no need to information exchange among aircraft. Based on the measurement of relative information such as distances and orientations obtained from practical sensors, the formation is realized by employing the feedback linearization approach. By considering the leader maneuver to be unknown, a nonlinear estimator is designed and the stability of the combined controller-estimator is guaranteed. Simulation results confirm the effectiveness of the proposed formation flight control strategy. (C) 2016 Elsevier B.V. All rights reserved.
引用
收藏
页码：69 / 75
页数：7
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