Distributed Formation Controller of Multiple UAVs
a new distributed control method for the formation control of multiple UAVs is presented. In our control method, every UAV can only get and use its own sensor information.The dynamic equation of UAV is firstly transformed into a relative movement equation between the leader UAV and the follower UAV, and then an error model between the actual relative movement signals and desired ones, finally the error model is linearized by state feedback method. A feedforward controller is then designed to make the error model have equilibrium at zero and a feedback controller is studied by backstepping way to make the equilibrium stable. In addition, this method considers the leader UAVs signals as signals produced by an external system. An internal model is designed for the feedforward controller to compensate the effect of these signals; while a state observer is designed to estimate all the error signals to realize the feedback controller. The proposed distributed control law is applied in a UAV team with three UAVs. Numerical simulation proves the validity of the proposed distributed formation control law.
multiple UAVs formation control internal model state observer
JIA Qiuling LI Guangwen JIANG Zhengxiong
College of Automation, Northwestern Polytechnical University, Xian, 710072, China
国际会议
北京
英文
2007-08-05（万方平台首次上网日期，不代表论文的发表时间）