It is considered the problem of designing fixed-structure and low-order controllers for a formation of unmanned aerial vehicles (UAVs), such as quad-rotor helicopters. A formation flight experiment, is simulated, where the goal is to achieve a specified formation while pursuing a given waypoint. The focus of this work is on robustness and performance of the formation of UAVs. To attain the formation and at the same time guarantee stability under changes in the communication topology (due to range limitations, failure or obstacles) tools from graph theory and robust control theory are utilized. Section II reviews the graph-theoretical framework and the robust design method. The model of a quadrotor helicopter is presented in Section III. Section IV shows the design of the formation controller and presents simulation results. In Section V it is concluded with an outlook to future research directions.
Robust formation control of quad-rotor helicopters
Robuste Formationssteuerung für Quad-Rotor-Hubschrauber
2009
6 Seiten, 7 Bilder, 16 Quellen
Aufsatz (Konferenz)
Englisch
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