Title :
Adaptive synchronized attitude angular velocity tracking control of multi-UAVs
Author :
Liu, Hugh H T ; Shan, Jinjun
Author_Institution :
Inst. for Aerosp. Studies, Toronto Univ., Ont., Canada
Abstract :
An adaptive synchronization strategy is proposed and applied to the attitude angular velocity tracking control of multiple unmanned aerial vehicles (UAVs). It achieves global asymptotic convergence of both the attitude angular velocity tracking and the angular velocity synchronization, even in the presence of system parameter uncertainties. Simulation results of multiple UAVs in coordination verify the effectiveness of the proposed approach.
Keywords :
adaptive control; aerospace robotics; angular velocity control; asymptotic stability; attitude control; multi-robot systems; remotely operated vehicles; synchronisation; tracking; uncertain systems; UAV coordination; adaptive control; adaptive synchronization strategy; angular velocity; attitude control; global asymptotic convergence; multiUAV control; multiple unmanned aerial vehicles; synchronized control; system parameter uncertainties; tracking control; Adaptive control; Angular velocity; Angular velocity control; Attitude control; Convergence; Equations; Programmable control; Robot kinematics; Uncertain systems; Unmanned aerial vehicles;
Conference_Titel :
American Control Conference, 2005. Proceedings of the 2005
Print_ISBN :
0-7803-9098-9
Electronic_ISBN :
0743-1619
DOI :
10.1109/ACC.2005.1469920
