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http://dx.doi.org/10.5139/JKSAS.2008.36.6.565

Behavioral Decentralized Optimum Controller Design for UAV Formation Flight  

Kim, Seung-Keun (서울대학교 기계항공공학부)
Kim, You-Dan (서울대학교 기계항공공학부)
Publication Information
Journal of the Korean Society for Aeronautical & Space Sciences / v.36, no.6, 2008 , pp. 565-573 More about this Journal
Abstract
The behavior-based decentralized approach is considered for multi-UAV formation flight. It is assumed that each UAV has its own mission of flying to a specified region, while the distances between UAVs should be maintained. These two requirements may conflict with each other. To design the controller, coupled dynamics approach is applied to multi-UAVs with an assumption that each UAV can communicate with each other to share the state-information. Control gain matrices are optimized to acquire better performances of formation flying. To validate the proposed control approach, numerical simulation is performed for the waypoint-passing mission of multi-UAVs.
Keywords
Formation Flight; Decentralized Control; Behavior-based Approach; Optimization;
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