Time-critical coordinated path following for multiple UAVs via L1 adaptive output feedback controllers

This paper develops a complete framework for coordinated control of multiple unmanned air vehicles (UAVs) that are tasked to execute collision-free maneuvers under strict spatial and temporal constraints. For coordination of the fleet of vehicles, the temporal constraints are enforced by adjusting the speed profile of the vehicles along the feasible paths. Augmentation of the existing autopilots with L₁ adaptive controller ensures accurate path tracking with desired specifications. The paper shows flight test results performed in Camp Roberts, CA, in February of 2007, and hardware-in-the-loop experimental results.