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http://dx.doi.org/10.5139/JKSAS.2008.36.10.988

Leaderless Formation Control Strategy and Stability Analysis for Multiple UAVs  

Seo, Joong-Bo (서울대학교 기계항공공학부 대학원)
Ahn, Chae-Ick (서울대학교 기계항공공학부 대학원)
Kim, You-Dan (서울대학교 기계항공공학부)
Publication Information
Journal of the Korean Society for Aeronautical & Space Sciences / v.36, no.10, 2008 , pp. 988-995 More about this Journal
Abstract
A consensus-based feedback linearization method is proposed to maintain a specified time-varying geometric configuration for formation flying of multiple autonomous vehicles. In this approach, there exists no explicit leader in the team, and the proposed control strategy requires only the local neighbor-to-neighbor information between vehicles. The information flow topology between the vehicles is defined by Graph Laplacian matrix, and the formation flying can be achieved by the proposed feedback linearization with consensus algorithm. The stability analysis of the proposed controller is also performed via eigenvalue analysis for the closed-looop system. Numerical simulation is performed for rotary-wing type micro aerial vehicles to validate the performance of the proposed controller.
Keywords
Formation flight; Consensus Protocol; Feedback linearization; Graph theory; Unmannedaerial vehicle;
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