Unmanned Aerial Vehicle Formation Consensus Algorithm Based on Virtual Relative Position Errors

2013 ◽

Vol 367 ◽

pp. 411-416 ◽

Cited By ~ 5

Author(s):

Guang Yan Xu ◽

Yi Bo Shi

Keyword(s):

Unmanned Aerial Vehicle ◽

Relative Position ◽

State Feedback ◽

Feedback Controller ◽

Flight Speed ◽

Dynamic Equations ◽

Aerial Vehicle ◽

Distance Vector ◽

Simulation Results ◽

Formation Keeping

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.

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Altitude consensus based 3D flocking control for fixed-wing unmanned aerial vehicle swarm trajectory tracking

Proceedings of the Institution of Mechanical Engineers Part G Journal of Aerospace Engineering ◽

10.1177/0954410016629692 ◽

2016 ◽

Vol 230 (14) ◽

pp. 2628-2638 ◽

Cited By ~ 10

Author(s):

Xiangyin Zhang ◽

Haibin Duan

Keyword(s):

Unmanned Aerial Vehicles ◽

Unmanned Aerial Vehicle ◽

Control Algorithm ◽

Field Method ◽

External Input ◽

Consensus Algorithm ◽

Aerial Vehicles ◽

Input Signals ◽

Aerial Vehicle ◽

Distributed Tracking

This paper studies the 3D flocking control problem for unmanned aerial vehicle swarm when tracking a desired trajectory. In order to allow the unmanned aerial vehicle swarm to form the stable flocking geometry on a same horizontal plane, the altitude consensus algorithm is applied to the unmanned aerial vehicle altitude control channel, using the trajectory altitude as the external input signals. The flocking control algorithm is only performed in the horizontal channel to control the horizontal position of unmanned aerial vehicles. The distributed tracking algorithm, which controls the local averages of position and velocity of each unmanned aerial vehicle, is implemented to achieve the better tracking performance. The improved artificial potential field method is introduced to achieve the smooth trajectory when avoiding obstacles. The practical dynamic and constraints of unmanned aerial vehicles are also taken into account. Numerical simulations are performed to test the performance of the proposed control algorithm.

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Cooperative Navigation between a Ground Vehicle and an Unmanned Aerial Vehicle in GNSS-Challenged Environments

Proceedings of the 29th International Technical Meeting of The Satellite Division of the Institute of Navigation (ION GNSS+ 2016) ◽

10.33012/2016.14623 ◽

2016 ◽

Author(s):

Victor O. Sivaneri ◽

Jason N. Gross

Keyword(s):

Unmanned Aerial Vehicle ◽

Ground Vehicle ◽

Cooperative Navigation ◽

Aerial Vehicle

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Study on Fault Diagnosis of Planetary Gearbox in Unmanned Aerial Vehicle Using Multi sensor Data

Journal of Applied Reliability ◽

10.33162/jar.2020.12.20.4.332 ◽

2020 ◽

Vol 20 (4) ◽

pp. 332-342

Author(s):

Hyung Jun Park ◽

Seong Hee Cho ◽

Kyung-Hwan Jang ◽

Jin-Woon Seol ◽

Byung-Gi Kwon ◽

...

Keyword(s):

Fault Diagnosis ◽

Unmanned Aerial Vehicle ◽

Sensor Data ◽

Planetary Gearbox ◽

Aerial Vehicle

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Results of Spatial Structure of Atmosphere Radiation in a Spectral Range (1.5–2) µm Research

Light & Engineering ◽

10.33383/2017-061 ◽

2018 ◽

pp. 7-13

Author(s):

Anton M. Mishchenko ◽

Sergei S. Rachkovsky ◽

Vladimir A. Smolin ◽

Igor V . Yakimenko

Keyword(s):

Spatial Structure ◽

Unmanned Aerial Vehicle ◽

Wavelength Range ◽

Spectral Range ◽

Near Ir ◽

Optoelectronic Systems ◽

Aerial Vehicle

Results of experimental studying radiation spatial structure of atmosphere background nonuniformities and of an unmanned aerial vehicle being the detection object are presented. The question on a possibility of its detection using optoelectronic systems against the background of a cloudy field in the near IR wavelength range is also considered.

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