Distributed Formation and Reconfiguration Control of VTOL UAVs

作者：Liao Fang^*; Teo Rodney; Wang Jian Liang; Dong Xiangxu; Lin Feng; Peng Kemao

来源：IEEE Transactions on Control Systems Technology, 2017, 25(1): 270-277.

DOI：10.1109/TCST.2016.2547952

• Distributed control
• formation control
• multiagent system
• networked control
• unmanned air vehicles (UAV)

In this brief, a novel distributed cascade robust feedback control approach is proposed for formation and reconfiguration control of a team of vertical takeoff and landing (VTOL) unmanned air vehicles (UAVs). This approach is based on dynamic communication network. It guarantees intervehicle collision avoidance and considers dynamic constraints of UAVs. In the outer loop of the cascade formation control, a potential field approach is used to generate a desired velocity for each UAV, which ensures that the team of UAVs can perform formation flying, formation rotating and reconfiguration, avoid intervehicle collision, as well as track a specified virtual leader. In the inner loop of the cascade formation control, the velocity of each UAV is designed to track its desired velocity generated by the outer loop, subject to dynamic constraints. The proposed approach is demonstrated via both simulation and flight test.

• 出版日期2017-1
• 单位南阳理工学院