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http://dx.doi.org/10.5139/JKSAS.2015.43.10.859

Development of robust flocking control law for multiple UAVs using behavioral decentralized method  

Shin, Jongho (Agency for Defense Development)
Kim, Seungkeun (Department of Aerospace Engineering, Chungnam National University)
Suk, Jinyoung (Department of Aerospace Engineering, Chungnam National University)
Publication Information
Journal of the Korean Society for Aeronautical & Space Sciences / v.43, no.10, 2015 , pp. 859-867 More about this Journal
Abstract
This study proposes a robust formation flight control technique of multiple unmanned aerial vehicles(UAVs) using behavior-based decentralized approach. The behavior-based decentralized method has various advantages because it utilizes information of neighboring UAVs only instead of information of whole UAVs in the formation maneuvering. The controllers in this paper are divided into two methods: first one is based on position and velocity of neighboring UAVs, and the other one is based on position of neighboring UAVs and passivity technique. The proposed controllers assure uniformly ultimate boundedness of closed-loops system under time varying bounded disturbances. Numerical simulations are performed to validate the effectiveness of the proposed method.
Keywords
Behavior-Based Decentralized Method; Formation Flight; UAV; Robust Control; Passivity Technique;
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Times Cited By KSCI : 1  (Citation Analysis)
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