Co-operative tensegrity-based formation control algorithm for a multi-aircraft system

Author

Sook Yen Lau ; Naeem, Wasif

Author_Institution

Sch. of Electron., Electr. Eng. & Comput. Sci., Queen´s Univ. Belfast, Belfast, UK

fYear

2015

fDate

1-3 July 2015

Firstpage

750

Lastpage

756

Abstract

This paper presents a tensegrity-based co-operative control algorithm for an aircraft formation. The 6 degrees-of-freedom model of the well-known Aerosonde unmanned aerial vehicle (UAV), is integrated with the model of the tensegrity structure and a decentralised control scheme is proposed. The strategy is shown to be scalable for 2n number of UAVs and is able to maintain a firm geometry whilst allowing flexible shape transformations. Simulation results demonstrate the effectiveness and stability of the proposed tensegrity-based formation control algorithm in 3D.

Keywords

aircraft control; autonomous aerial vehicles; decentralised control; geometry; multi-robot systems; position control; stability; Aerosonde unmanned aerial vehicle; UAV; aircraft formation; cooperative tensegrity-based formation control algorithm; decentralised control; degrees-of-freedom model; flexible shape transformations; geometry; multiaircraft system; stability; tensegrity structure; Aircraft; Atmospheric modeling; Force; Mathematical model; Robustness; Stability analysis; Vehicles;

fLanguage

English

Publisher

ieee

Conference_Titel

American Control Conference (ACC), 2015

Conference_Location

Chicago, IL

Print_ISBN

978-1-4799-8685-9

Type

conf

DOI

10.1109/ACC.2015.7170824

Filename

7170824