Browse > Article
http://dx.doi.org/10.5302/J.ICROS.2009.15.1.023

Multi-UAV Formation Based on Feedback Linearization Technique Using Range-Only Measurement  

Kim, Sung-Hwan (인하대학교 항공우주공학과)
Ryoo, Chang-Kyung (인하대학교 항공우주공학과)
Park, Choon-Bae (인하대학교 항공우주공학과)
Publication Information
Journal of Institute of Control, Robotics and Systems / v.15, no.1, 2009 , pp. 23-30 More about this Journal
Abstract
This paper addresses how to make a formation of multiple unmanned aerial vehicles (UAVs) using only the relative range information. Since the relative range can easily be measured by an on-board range sensor like the laser range finder, the proposed method does not require any expensive and heavy wireless communication system to share the navigation information of each vehicle. Based on the two-dimensional (2-D) nonlinear equations of motion, we propose a nonlinear formation controller using the typical input-output feedback linearization method. The performance of the proposed formation controller is verified by various numerical simulations.
Keywords
feedback linearization; formation guidance; UAV;
Citations & Related Records

Times Cited By SCOPUS : 2
연도 인용수 순위
  • Reference
1 P. Binetti, K. B. Ariyur, M. Krstic,and F.Bemelli, "FormationFlightOptimization Using Extrem\llll Seeking Feedback,"Journal of Guidance, Control, and Dynamics, vol. 26, no. 1,2003
2 M. J. Tahk, C. S. Park, and C. K. Ryoo, "Line-of-Sight Guidance Laws for Fonnation Flight," Journal qfGuidance, Control, and Dynamics, vol. 28, no. 4, pp. 108-116,2005
3 M. Pachter, J. 1. D' AmJ, and A. W. Proud, "Tight Formation Flight Control, " Journal of Guidmzce, Control and Dynamics,vol. 24, no. 2, pp. 246-254, 2001
4 F. Guilietti, L. Pollini, and M. Irmocenti, "Autonomous Fonnation Flight," IEEE Control System Magazine, vol. 20, no.6, pp. 34-44, 2000
5 하철근， 최형식， "특이섭동법을 이용한 비행체 자동 착륙 착륙 유도제어 알고리즘 설계 제어 · 자동화 · 시스템공학 논문지"，제11 권 제8호-， pp. 726-732, Aug. 2005
6 S. J. Lee, J. H. Cho, S. W. Lee, and J. S. Cho, ''N\llllerical Study on the Aerodynamic Characteristics ofWmgs on the Formation Flight," Journal of The Korean Society for Aeronautical and Space Sciences, vol. 35, no. 1, pp. 18-26,2001
7 J H. K. Khalil, Nonlinear Systems, 3rd ed., Prentice-Hall, 2002
8 C. K. Ryoo, Y. H. Kim, and M. 1. Tahk, "Optimal UAV Formation Guidance Laws with Tnning constraint," In/emotion-alJournalofSystem Science, vol. 36, no. 6, pp.415-427, 2006