Cooperative control of Unmanned Aerial Vehicles is currently being researched for a wide range of applications. Applicability of aerial unmanned systems might be increased by formation flight. In this paper, we present an application of a proportional-integral controller for formation flight of three Unmanned Aerial Vehicles (UAVs). A decentralized cooperative control scheme is used with information flow modeled by a leader-follower structure. Control laws, based on velocity and position errors between the vehicles, are defined and derived for each of the three flying objects in formation. The main goal of this work is a simulation study. Three-dimensional motion of the three-object formation was performed and analyzed using a six-degrees-of-freedom state space quadrotor model. The simulation studies presented allow verifying the adopted control structure. Convergence time is used as an indicator of the control system quality and the formation stability. The presented research and diagram of control algorithms tests were done before experimental tests and field trials of formation flight.


    Zugriff

    Zugriff über TIB

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Formation Flight Control Scheme for Unmanned Aerial Vehicles


    Beteiligte:


    Erscheinungsdatum :

    2012


    Format / Umfang :

    10 Seiten





    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Print


    Sprache :

    Englisch




    FORMATION FLIGHT OF UNMANNED AERIAL VEHICLES

    DEY KAUSHIK / HEGDE DHIRAJ NAGARAJA / ROY ASHIS KUMAR et al. | Europäisches Patentamt | 2020

    Freier Zugriff

    Formation Flight of Unmanned Aerial Vehicles

    DEY KAUSHIK / SARKAR ABHISHEK / ROY ASHIS KUMAR et al. | Europäisches Patentamt | 2021

    Freier Zugriff

    FORMATION FLIGHT OF UNMANNED AERIAL VEHICLES

    HEGDE DHIRAJ NAGARAJA / ROY ASHIS KUMAR / SARKAR ABHISHEK et al. | Europäisches Patentamt | 2024

    Freier Zugriff

    Constraints for unmanned aerial vehicles formation flight path

    Chen, Gao / Ziyang, Zhen / Huajun, Gong et al. | IEEE | 2014


    Formation flight path coordination of unmanned aerial vehicles

    LIU HUGH HONG-TAO / ZHU HAO CHENG / FINDLAY EVERETT JAMES et al. | Europäisches Patentamt | 2018

    Freier Zugriff