Multi-UAV formation controller design with uncertain dynamics

Jialong Zhang, Jianguo Yan, Bing Xiao, Pu Zhang, Ge Yang, Maolong Lv

Research output: Chapter in Book/Conference proceedings/Edited volumeConference contributionScientificpeer-review

Abstract

Aiming at the flight-instability of the closed-loop system in windy field of three fixed-wing unmanned aerial vehicles (UAVs) formation. In this paper, we design a multi-UAV formation controller to address the flight-stability of multiple UAVs. The problem of flight-stability can be converted to the analysis of dynamic response and steady-state error. The robust control compared with thin membrane control method, it can realize the high speed and close cooperative formation of precision combat. Adding thin membrane is not only capable of reducing the body vibration and steady-state tracking error, but also owns better robustness. The proposed controller can control leader's speed so that follower can track leader in the case of decoupling, while maintaining the consensus of relative speed. The simulation results show that the designed controller integrates the advantages of robust control and thin membrane vibration attenuation. Moreover, this control method can not only improve the response speed, convergence time and stability of the control system, but also realize the aim of the precision cooperative combat ability.

Original languageEnglish
Title of host publicationProceedings of the 38th Chinese Control Conference (CCC 2019)
EditorsMinyue Fu, Jian Sun
Place of PublicationPiscataway, NJ, USA
PublisherIEEE
Pages4286-4290
ISBN (Electronic)9789881563972
DOIs
Publication statusPublished - 2019
Event38th Chinese Control Conference, CCC 2019 - Guangzhou, China
Duration: 27 Jul 201930 Jul 2019

Conference

Conference38th Chinese Control Conference, CCC 2019
Country/TerritoryChina
CityGuangzhou
Period27/07/1930/07/19

Keywords

  • Body vibration
  • Flight-instability
  • Steady-state error
  • Thin membrane
  • UAVs formation

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