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| Content Provider | IEEE Xplore Digital Library |
|---|---|
| Author | Zheng Wang Yuqing He Jianda Han |
| Copyright Year | 2009 |
| Description | Author affiliation: State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Liaoning, 110016, China (Yuqing He; Jianda Han) || The Graduate school of Chinese Academy of Sciences, Chinese Academy of Sciences, Shenyang, Liaoning, 110016, China (Zheng Wang) |
| Abstract | Multiple Unmanned Helicopters (UH) formation control is a difficult problem due to the highly nonlinear model and extensively existing uncertainties. In this paper, basing on the concept of relative dynamics and Leader-Follower formation strategy, a new formation control algorithm is given to partially solve this problem. First, the formation control problem is transformed into tracking problems of multiple Leader-Follower partners, and the relative dynamics model is derived by combining a fully dynamics model of follower UH system and a simplified model of leader UH system. Second, with the approximate feedback linearization method, a nonlinear robust tracking controller is designed by the H∞ control technology. Finally, simulations of the new proposed method with two UH systems are conducted, and the results are compared with the normal Leader-Follower formation control algorithm to show the improvement. |
| Starting Page | 4381 |
| Ending Page | 4386 |
| File Size | 4324535 |
| Page Count | 6 |
| File Format | |
| ISBN | 9781424426928 |
| DOI | 10.1109/ICMA.2009.5246619 |
| Language | English |
| Publisher | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Publisher Date | 2009-08-09 |
| Publisher Place | China |
| Access Restriction | Subscribed |
| Rights Holder | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Subject Keyword | Helicopters Nonlinear dynamical systems MIMO Aerodynamics Control systems Vehicle dynamics Nonlinear control systems Robotics and automation Linear approximation Stability H∞ Control Unmanned Helicopter Formation Control Relative Dynamics Approximate Linearization |
| Content Type | Text |
| Resource Type | Article |
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