Open Access Open Access  Restricted Access Subscription Access

Decentralised Formation Control of Unmanned Aerial Vehicles Using Virtual Leaders

Takuma Hino

Abstract


In this paper, a simple but robust formation control scheme for unmanned aerial vehicles is proposed. The proposed scheme is based on the virtual leader approach. Mathematical proof is provided to show that the scheme allows formations to converge, as long as sufficient communications between formation members take place. Monte Carlo tests showed that the proposed
scheme allows formations with 95% of the possible communication networks to converge. Also, numerical simulations showed that proposed scheme allows formations to converge even if only 10% of the total communication succeeds.

Full Text:

PDF

References


W. B. Blake and D. R. Gingras, “Comparison of predicted and measured formation flight interference effects,” Journal of Aircraft, vol. 41, no. 2, pp. 201–207, 2004.

A. W. Bloy, M. G. West, K. A. Lea, and M. Jouma’a, “Lateral aerodynamic interference between tanker and receiver in air-to-air refueling,” Journal of Aircraft, vol. 30, no. 5, pp. 705–710, 1993.

J. A. Fax and R. M. Murray, “Information flow and cooperative control

of vehicle formation,” IEEE Transactions on Automatic Control, vol. 49, no. 9, September 2004.

T. Hino and T. Tsuchiya, “Formation control of small unmanned aerial vehicles using virtual leader and point-to-multipoint communication,” Transactions of the Japan Society for Aeronautical and Space Sciences, vol. 54, no. 184, pp. 83–89, 2011.

D. Hummel, “Aerodynamic aspects of formation flight in birds,” Journal of Theoretical Biology, vol. 104, no. 3, pp. 321–47, 1983.

M. A. Lewis and K.-H. Tan, “High precision formation control of mobile robots using virtual structures,” Autonomous Robots, vol. 4, 1997.

P. B. S. Lissaman and C. A. Shollenberger, “Formation flight of birds,”

Science, no. 3934, pp. 1003–5, May 1970.

L. Pollini, F. Giulietti, and M. Innocenti, “Sensorless formation flight,”

in AIAA Guidance, Navigation, and Control Conference and Exhibit, 2001, aIAA 01-4356.

W. Ren and R. W. Beard, “Virtual structure based spacecraft formation

control with formation feedback,” in AIAA Guidance, Navigation, and Control Conference and Exhibit, 2002, aIAA 2002-4963.

R. S. Shevell, Fundamentals of Flight, 2nd ed. Prentice Hall, 1988.

X. Xi and E. H. Abed, “Formation control with virtual leaders and reduced communications,” in Proceedings of the 44th IEEE Conference on Decision and Control, and the European Control Conference, 2005, pp. 1854–1860.




DOI: http://dx.doi.org/10.21535%2FProICIUS.2011.v7.375

Refbacks

  • There are currently no refbacks.