Decentralized Autonomous Coordination of Aircraft Formation Using MPC and Sliding Mode control
This paper concerns with the decentralized leader-follower formation flight control using Model Predictive Control (MPC) approach for the horizontal plane motion and sliding mode approach for the vertical motion. In this formation control scheme, the commands to the leader are considered as measured disturbances and the commands to the wing aircraft are considered as manipulated variables. The controller is optimal relative to a defined cost function and takes into account the input and output constraints. In the vertical channel, the effects of unknown vortices produced by the leader are compensated by the sliding mode controller. In the closed-loop system, the commanded separation trajectories are asymptotically tracked by each wing aircraft while the lead UAV is maneuvering. These control results are applied to the formation flight control of multiple UAVs in the preliminary stage and the simulation results have been obtained. The results show that this scheme is effective in maintaining the formation of the flight where only the leader is commanded by the Ground Control Station (GCS).
Zhao Weihua Go Tiauw Hiong Eicher Low
School of Mechanical and Aerospace Engineering, Nanyang Technological University, Singapore 639798
国际会议
北京
英文
1-4
2008-10-23（万方平台首次上网日期，不代表论文的发表时间）