NDLI: Formation control of VTOL UAVs without linear-velocity measurements

Content Provider	IEEE Xplore Digital Library
Author	Abdessameud, A. Tayebi, A.
Copyright Year	2010
Description	Author affiliation: Dept. of Electr. & Comput. Eng., Univ. of Western Ontario, London, ON, Canada (Abdessameud, A.; Tayebi, A.)
Abstract	We address the formation control problem without linear-velocity measurements for a group of Vertical Take-Off and Landing (VTOL) Unmanned Aerial Vehicles (UAV) with a fixed and undirected communication topology. The vehicles among the team are required to track a desired reference linear-velocity and maintain a desired formation. Our control design is achieved in two main steps. First, an intermediary control input is designed for the translational dynamics, from which we extract the desired system attitude and thrust achieving the formation objective. Then, the torque input for the rotational dynamics of each vehicle is designed to drive the actual attitudes to the desired ones. To obviate the need for linear-velocity, we use instrumental auxiliary variables in each step of the control design. The stability of the overall closed loop system is rigorously established. Simulation results are provided to show the effectiveness of the proposed control scheme.
Starting Page	2107
Ending Page	2112
File Size	881777
Page Count	6
File Format	PDF
ISBN	9781424474264
ISSN	07431619
e-ISBN	9781424474271
DOI	10.1109/ACC.2010.5531323
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2010-06-30
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	American Automatic Control Council(AACC)
Subject Keyword	Unmanned aerial vehicles Communication system control Control design Vehicle dynamics Topology Control systems Attitude control Torque Vehicle driving Instruments
Content Type	Text
Resource Type	Article
Subject	Electrical and Electronic Engineering

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4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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