UAV Formation Control: Theory and Application

Attractor dynamics approach to formation control: theory and application

Autonomous Robots ◽

10.1007/s10514-010-9198-8 ◽

2010 ◽

Vol 29 (3-4) ◽

pp. 331-355 ◽

Cited By ~ 38

Author(s):

Sérgio Monteiro ◽

Estela Bicho

Keyword(s):

Control Theory ◽

Formation Control ◽

Attractor Dynamics

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Cooperative control method of multi-missile formation under uncontrollable speed

Xibei Gongye Daxue Xuebao/Journal of Northwestern Polytechnical University ◽

10.1051/jnwpu/20213920249 ◽

2021 ◽

Vol 39 (2) ◽

pp. 249-257

Author(s):

Zhenlin Zhang ◽

Ke Zhang ◽

Meibo Lyu ◽

Minghao Wang ◽

Zhiguo Han

Keyword(s):

Control System ◽

Control Theory ◽

Coordinate System ◽

Relative Position ◽

Formation Control ◽

Sliding Mode ◽

Variable Structure ◽

Dynamic Surface Control ◽

Dynamic Surface ◽

Sliding Mode Variable Structure

Under the missile speed is uncontrollable, a design method of multi-missile formation flight controller based on the sliding mode variable structure control theory and adaptive dynamic surface control theory is proposed. Firstly, according to the relative position of the leader and the follower in the inertial frame, the tracking error model for the relative position and the expected relative position between the leader and the follower is obtained, and the multi-missile formation control system in the inertial coordinate system is obtained. Secondly, in order to obtain the expression of the formation control system in the ballistic coordinate system, the acceleration of the missile in the ballistic coordinate system is converted to the inertial coordinate system. Combining with the tracking of the relative position and the desired relative position of the leader and the followers, we can obtain the simplified error model for the formation control system. Then the sliding mode variable structure control theory and the adaptive dynamic surface control theory are used to design the formation controllers for the leader and follower missiles respectively, and the stability of the present controller is analysed via the Lyapunov stability theory. Finally, the designed formation controllers are used for the leader and follower missiles to simulate the parameters. The results verify the feasibility and effectiveness of the present method.

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Adaptive Swarm Coordination and Formation Control

Robotic Systems ◽

10.4018/978-1-7998-1754-3.ch098 ◽

2020 ◽

pp. 2041-2075

Author(s):

Samet Guler ◽

Baris Fidan ◽

Veysel Gazi

Keyword(s):

Adaptive Control ◽

Graph Theory ◽

Control Theory ◽

Formation Control ◽

The Other ◽

System Behavior ◽

Swarm Dynamics ◽

Multi Agent ◽

Control Designs ◽

Swarm Coordination

Swarm coordination and formation control designs focus on multi-agent dynamic system behavior and aim to achieve desired coordinated behavior or predefined geometric shape. They utilize techniques from the control theory and graph theory literature. On the other hand, adaptive control theory is concerned with uncertainties in the system dynamics, and has structured frameworks for various types of plant models. Therefore, in case there are uncertainties in the swarm dynamics, adaptive control methodologies can be utilized to achieve the desired coordinated behavior and there exist remarkable works in this direction. However, connection among swarm coordination, formation control, and adaptive control theory brings some restrictions as well as advantages. Hence adaptive swarm coordination and formation control has been developed in limited aspects. In this chapter, we review some existing works of the adaptive formation control literature along with non-adaptive ones, and discuss the advantages of application of adaptive control frameworks to swarm coordination and formation control.

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