On Controlling Aircraft Formations
Loading...
Penn collection
Departmental Papers (MEAM)
General Robotics, Automation, Sensing and Perception Laboratory
General Robotics, Automation, Sensing and Perception Laboratory
Degree type
Discipline
Subject
GRASP
Funder
Grant number
License
Copyright date
Distributor
Related resources
Author
Contributor
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.
Advisor
Date of presentation
2001-12-04
Conference name
Departmental Papers (MEAM)
Conference dates
2023-05-16T21:45:13.000
Conference location
Date Range for Data Collection (Start Date)
Date Range for Data Collection (End Date)
Digital Object Identifier
Series name and number
Volume number
Issue number
Publisher
Publisher DOI
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 This material is posted here with permission of the IEEE. Such permission of the IEEE does not in any way imply IEEE endorsement of any of the University of Pennsylvania's products or services. Internal or personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution must be obtained from the IEEE by writing to pubs-permissions@ieee.org. By choosing to view this document, you agree to all provisions of the copyright laws protecting it.
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 This material is posted here with permission of the IEEE. Such permission of the IEEE does not in any way imply IEEE endorsement of any of the University of Pennsylvania's products or services. Internal or personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution must be obtained from the IEEE by writing to pubs-permissions@ieee.org. By choosing to view this document, you agree to all provisions of the copyright laws protecting it.
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 This material is posted here with permission of the IEEE. Such permission of the IEEE does not in any way imply IEEE endorsement of any of the University of Pennsylvania's products or services. Internal or personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution must be obtained from the IEEE by writing to pubs-permissions@ieee.org. By choosing to view this document, you agree to all provisions of the copyright laws protecting it.