Title :
Adaptive feedback linearizing nonlinear close formation control of UAVs
Author :
Singh, Sahjendra N. ; Chandler, Phil ; Schumacher, Corey ; Banda, Siva ; Pachter, Meir
Author_Institution :
Dept. of Electr. & Comput. Eng., Nevada Univ., Las Vegas, NV, USA
Abstract :
This paper deals with the problem of formation flight control of multiple unmanned aerial vehicles (UAVs). In close formation the wing UAV motion is affected by the vortex of the adjacent lead aircraft. In this paper, the vortex forces are treated as unknown functions. An adaptive control law is derived for the position control of the wing aircraft based on a backstepping design technique. In the closed-loop system, commanded separation trajectories are asymptotically tracked by each wing aircraft while the lead UAV is maneuvering. It is seen that an over parametrization in the design is essential for the decentralization of the control system. These results are applied to formation flight control of two UAVs and simulation results are obtained. These results show that the wing UAV follows precisely the reference separation trajectories in spite of the uncertainties in the aerodynamic coefficients, while the lead aircraft is maneuvering
Keywords :
adaptive control; aircraft navigation; closed loop systems; decentralised control; feedback; linearisation techniques; nonlinear control systems; position control; tracking; adaptive control; aircraft navigation; backstepping; closed-loop system; decentralized control; feedback; formation flight control; linearisation; nonlinear control systems; position control; trajectory tracking; unmanned aerial vehicles; vortex forces; Adaptive control; Aerospace control; Aircraft; Backstepping; Control systems; Linear feedback control systems; Position control; Programmable control; Trajectory; Unmanned aerial vehicles;
Conference_Titel :
American Control Conference, 2000. Proceedings of the 2000
Conference_Location :
Chicago, IL
Print_ISBN :
0-7803-5519-9
DOI :
10.1109/ACC.2000.876620