Adaptive formation control of UAVs in the presence of unknown vortex forces and leader commands

Author

Semsar, Elham ; Khorasani, K.

Author_Institution

Dept. of ECE, Concordia Univ., Montreal, Que.

fYear

2006

fDate

14-16 June 2006

Abstract

In this paper, stable adaptive formation control algorithms for two-dimensional models of aircraft are developed in the presence of unknown leader commands and disturbances due to vortex effects. The analysis is presented in the leader-follower frame for three cases of unknown leader commands and vortex forces in the velocity and heading angle dynamics. The algorithms are applied to the formation flight control of two UAVs. Simulation results show that the follower follows precisely the leader in the presence of uncertainties in the aerodynamic coefficients and leader commands

Keywords

adaptive control; aircraft control; control system analysis; control system synthesis; motion control; position control; remotely operated vehicles; stability; time-varying systems; uncertain systems; UAV; aerodynamic coefficients; aircraft; heading angle dynamics; leader commands; leader-follower frame; stable adaptive formation control; uncertainties; vortex forces; Adaptive control; Aerodynamics; Aerospace control; Aircraft; Force control; Programmable control; Stability; Uncertainty; Unmanned aerial vehicles; Vehicle dynamics;

fLanguage

English

Publisher

ieee

Conference_Titel

American Control Conference, 2006

Conference_Location

Minneapolis, MN

Print_ISBN

1-4244-0209-3

Electronic_ISBN

1-4244-0209-3

Type

conf

DOI

10.1109/ACC.2006.1657270

Filename

1657270