Several missions including surveillance, exploration, search-and-track, and lifting of heavy loads are best accomplished by multiple unmanned aerial vehicles (UAVs). Another important advantage to utilizing multiple vehicles is a reduction in the risk to successful completion of a mission due to the loss of a single vehicle. This increased robustness can lead to a commensurate decrease in vehicle specifications and cost, further improving the argument for swarm operations. This paper describes the development of an adaptive configuration controller for multiple vehicles executing a cooperative task in the presence of parametric uncertainty. A novel adaptive outer-loop controller that uses both local and global information is presented.


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    Title :

    Adaptive configuration control of multiple UAVs


    Contributors:

    Published in:

    Control Engineering Practice ; 21 , 8 ; 1043-1052


    Publication date :

    2013


    Size :

    10 Seiten, 24 Quellen




    Type of media :

    Article (Journal)


    Type of material :

    Print


    Language :

    English




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