Abstract
This paper is on autonomous three-dimensional maneuvering of teams of fixed-wing unmanned aerial vehicles (UAVs), cooperating with each other during the mission flight. The goal is to design a distributed control scheme that preserves the shape of the UAV team formation by keeping the inter-agent distances constant during arbitrary maneuvers. The paper considers the dynamic characteristics and constraints of the UAVs resulting from being fixed-wing; and proposes a Lyapunov analysis based individual UAV control design to complement the distributed control scheme. After presentation of formal design of the distributed control scheme and individual UAV controllers, simulation results are provided demonstrating effectiveness of the proposed control design.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
References
Bai, H., Arcak, M., Wen, J.: Rigid body attitude coordination without inertial frame information. Automatica 44(12), 3170–3175 (2008)
Bayezit, I., Amini, M., Fidan, B., Shames, I.: Cohesive Motion Control of Autonomous Formations in Three Dimensions. In: Proc. Sixth International Conference on Intelligent Sensors, Sensor Networks and Information Processing, Brisbane, Australia (December 2010)
Bayezit, I., Fidan, B., Amini, M., Shames, I.: Distributed Cohesive Motion Control of Quadrotor Vehicle Formations. In: Proc. ASME 2010 International Mechanical Engineering Congress and Exposition, Vancouver, Canada (November 2010)
Bayraktar, S., Fainekos, G., Pappas, G.: Experimental cooperative control of fixed-wing unmanned aerial vehicles. In: 43rd IEEE Conference on Decision and Control, CDC 2004, vol. 4, pp. 4292–4298. IEEE, Los Alamitos (2005)
Drake, S., Brown, K., Fazackerley, J., Finn, A.: Autonomous control of multiple UAVs for the passive location of radars. In: Proc. 2nd International Conference on Intelligent Sensors, Sensor Networks and Information Processing, pp. 403–409 (2005)
Fidan, B., Anderson, B., Yu, C., Hendrickx, J.: Persistent autonomous formations and cohesive motion control. In: Ioannou, P.A., Pitsillides, A. (eds.) Modeling and Control of Complex Systems, pp. 247–275. CRC, Boca Raton (2007)
Gazi, V., Fidan, B.: Coordination and control of multi-agent dynamic systems: Models and approaches. In: Şahin, E., Spears, W., Winfield, A. (eds.) Swarm Robotics, pp. 71–102. Springer, Heidelberg (2007)
Olfati-Saber, R., Murray, R.: Distributed cooperative control of multiple vehicle formations using structural potential functions. In: Proc. of IFAC World Congress, pp. 346–352 (2002)
Paul, T., Krogstad, T., Gravdahl, J.: Modelling of UAV formation flight using 3D potential field. Simulation Modelling Practice and Theory 16(9), 1453–1462 (2008)
Sandeep, S., Fidan, B., Yu, C.: Decentralized cohesive motion control of multi-agent formations. In: Proc. 14th Mediterranean Conference on Control and Automation (June 2006)
Smith, R.S., Hadaegh, F.Y.: Distributed estimation, communication and control for deep space formations. IET Control Theory & Applications 1(2), 445–451 (2007)
Tanner, H.G., Pappas, G.J., Kumar, V.: Leader-to-formation stability. IEEE Transactions on Robotics and Automation 20(3), 443–455 (2004)
Yu, C., Hendrickx, J.M., Fidan, B., Anderson, B.D.O., Blondel, V.D.: Three and higher dimensional autonomous formations: Rigidity, persistence and structural persistence. Automatica 43(3), 387–402 (2007)
Zhai, S., Fidan, B., Oztürk, S., Gazi, V.: Single view depth estimation based formation control of robotic swarms: Obstacle avoidance, simulation, and practical issues. In: Proc. 16th Mediterranean Conference on Control and Automation, June 2008, pp. 1162–1167 (2008)
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2011 Springer-Verlag Berlin Heidelberg
About this paper
Cite this paper
Bayezit, I., Fidan, B. (2011). Nonlinear Maneuvering Control of Rigid Formations of Fixed Wing UAVs. In: Kamel, M., Karray, F., Gueaieb, W., Khamis, A. (eds) Autonomous and Intelligent Systems. AIS 2011. Lecture Notes in Computer Science(), vol 6752. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-21538-4_13
Download citation
DOI: https://doi.org/10.1007/978-3-642-21538-4_13
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-642-21537-7
Online ISBN: 978-3-642-21538-4
eBook Packages: Computer ScienceComputer Science (R0)