In this work, the formation control problem is investigated for a group of planar vertical take-off and landing (PVTOL) aircraft. By combining the input-output linearization technology and the nonlinear time-varying tool, a distributed sliding-mode formation controller is derived guaranteeing that the multiple PVTOL aircraft come into a desired stationary formation shape with the velocities and the roll angle convergent to zero. The formation errors are showed to be asymptotically convergent to zero. Simulation results show the effectiveness of the proposed formation control algorithm.


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    Title :

    Robust formation control of multiple PVTOL aircraft with parameter uncertainties


    Contributors:
    Chen, Yu-Chan (author) / Ma, Bao-Li (author)


    Publication date :

    2016-08-01


    Size :

    148022 byte




    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



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