In this paper, we study cooperative control problems with a multi-UAV system expressed as a first-order system. Specifically, we describe a problem that cooperatively controlled UAVs change geometric configuration between multiple UAVs while the UAVs are flying in formation. In other words, each of the UAVs must intensionally change relative position between the UAV and the leader while the UAVs are cooperatively controlled. We propose a control algorithm to change geometric configuration among the UAVs arbitrarily while the cooperatively controlled UAVs are flying in formation. The control algorithm is based on a consensus algorithm. A leader-follower structure is also applied to provide the UAVs with commands from a leader. The control algorithm has an advantage in finding a controller gain to stabilize the multi-UAV system. In addition, the convergence speed does not depend on the network structure of the system. Finally, the proposed approach is validated by some simulations.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Consensus-based cooperative control for geometric configuration of UAVs flying in formation


    Contributors:

    Published in:

    Publication date :

    2013-09-01


    Size :

    345997 byte



    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



    Formation Flying for Satellites and UAVs

    Merrill, Garrick / Becker, Chris | NTRS | 2015


    The flying hand: A formation of UAVs for cooperative aerial tele-manipulation

    Gioioso, Guido / Franchi, Antonio / Salvietti, Gionata et al. | IEEE | 2014


    Cooperative Formation Flying with Hierarchical Control

    Wang, XiaoHua / Balakrishnan, S | AIAA | 2004


    Cooperative motion control of a formation of UAVs

    Rodrigues, Romulo T. / Aguiar, A. Pedro | IEEE | 2015


    Cooperative control of UAVs

    Pachter, Meir / Novy, Michael / Jacques, David et al. | AIAA | 2001