Departmental Papers (MEAM)

Document Type

Conference Paper

Subject Area

GRASP

Date of this Version

December 2001

Comments

Copyright 2001 IEEE. Reprinted from Proceedings of the 40th IEEE Conference on Decision and Control 2001, Volume 2, pages 1065-1070.
Publisher URL: http://ieeexplore.ieee.org/xpl/tocresult.jsp?isNumber=21128

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Abstract

We describe a framework for controlling a group of unmanned aerial vehicles (UAVs) flying in close formation. We first present a nonlinear dynamical model which includes the induced rolling moment by the lead aircraft on the wing of the following aircraft. Then, we outline two methods for trajectory generation of the leading aircraft, based on interpolation techniques on the Euclidean group, SE(3). Two formation controllers that allow each aircraft to maintain its position and orientation with respect to neighboring UAVs are derived using input-output feedback linearization. Numerical simulations illustrate the application of these ideas and demonstrate the validity of the proposed framework.

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Date Posted: 24 November 2004

This document has been peer reviewed.