Elastic Formation Keeping Control of Unmanned Aerial Vehicle Adapting to Flight Speed

Abstract:

For an Unmanned Aerial Vehicle (UAV) formation in leader-follower mode, considering the relative position relationship between neighbor vehicles in the formation, an elastic distance vector is proposed. The dynamic equations of a flight speed adaptive UAV formation are established using the elastic distance vector we proposed. The state feedback controller is designed. Simulation results show that the controller can be used to control the follower vehicles to follow the leader vehicle maneuvering effectively and keep the desired formation well, most importantly, the relative distance between neighbor vehicles in the formation is adapted to the changes of flight speed.

• Periodical: Applied Mechanics and Materials (Volume 367)
• Pages: 411-416
• DOI: https://doi.org/10.4028/www.scientific.net/AMM.367.411
• Online since: August 2013
• Authors: Guang Yan Xu, Yi Bo Shi
• Keywords: Elastic Formation Keeping, Formation Flight, State Feedback, UAV

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