Cooperative Formation Flying with Hierarchical Control
In this paper, use of hierarchical control concepts is investigated for cooperative formation flying of aircrafts. The airplanes are modeled as point mass and represented by double integrators. For demonstration of the concepts, a task of forming a square from arbitrary initial conditions is presented to four airplanes. The final position that each airplane has to reach is unknown to them. The goal for the team is abstracted in the top layer. The system is modeled as a hierarchical system in which the global information comes from the top level. Following this global information, each airplane positions itself from at least one other airplane such that a square is formed. Numerical results from this simulation show the effectiveness of the hierarchical concept.
X. Wang and S. N. Balakrishnan, "Cooperative Formation Flying with Hierarchical Control," AIAA Atmospheric Flight Mechanics Conference and Exhibit, American Institute of Aeronautics and Astronautics (AIAA), Jan 2004.
Mechanical and Aerospace Engineering
Keywords and Phrases
Large Scale Systems; Control Theory
Article - Conference proceedings
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