The considered multiple Unmanned Aerial Vehicles (UAVs) formation control in this paper aims to design a control law to keep fixed-wing UAV flight with specified relative configurations (attitude and position) under predefined topology, of which each node is an underactuated dynamic system. In order to realize the stable formation flight, we proposed a control method, composing of the characteristics of fixed-wing UAVs with the advantages of dual quaternions to achieve and preserve formation configurations. The proposed formation control law is distributed by only using the neighbors' information, and without requiring to decouple the rotation and translation. Combining the consensus protocol and the property called Pairwise Asymptotic Stability (PAS), the overall system can be certified asymptotically stable. Finally, simulation results are presented to show the effectiveness of this approach.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Multiple UAVs configuration formation control via the dual quaternion method


    Contributors:
    Yunyun, Zhao (author) / Xiangke, Wang (author) / Huayong, Zhu (author)


    Publication date :

    2015-07-01


    Size :

    382060 byte





    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



    Offset-Aware Dual Quaternion Control for UAVs with Cable-Suspended Loads

    Yuan, Yuxia / Pries, Lukas / Ryll, Markus | IEEE | 2025


    Dual Quaternion Delay Compensating Maneuver Regulation for Fully Actuated UAVs

    Michieletto, Giulia / Lissandrini, Nicola / Antonello, Andrea et al. | BASE | 2020

    Free access

    Adaptive configuration control of multiple UAVs

    Dydek, Zachary T. / Annaswamy, Anuradha M. / Lavretsky, Eugene | Tema Archive | 2013