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http://dx.doi.org/10.5302/J.ICROS.2012.18.2.087

A Formation Guidance Law Design Based on Relative-Range Information for Swam Flight  

Kim, Sung-Hwan (Inha University)
Jo, Sung-Beom (Inha University)
Park, Sang-Hyuk (Inha University)
Kim, Do-Wan (Inha University)
Ryoo, Chang-Kyung (Inha University)
Publication Information
Journal of Institute of Control, Robotics and Systems / v.18, no.2, 2012 , pp. 87-93 More about this Journal
Abstract
In this paper, a formation guidance method for UAVs (Unmanned Aerial Vehicles) to simulate the formation flight of birds proposed. The proposed method solves all issues of approaching for formation, formation keeping, and scarce chance to be collided with each UAV during formation process. Also, we design the feedforward controller to compensate the change of speed and heading for maneuvering of the leader UAV and the feedback controller to consider the response lag of the system. The stability and performance of the proposed controller is verified via numerical simulations of the full 6-Dof model of UAV.
Keywords
swam flight; autonomous formation flight; formation guidance law; feed-forward control; feed-back linearization; LQR technique; UAV;
Citations & Related Records
Times Cited By KSCI : 6  (Citation Analysis)
Times Cited By SCOPUS : 2
연도 인용수 순위
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