In this paper, optimal and hierarchical control concepts are investigated for cooperative formation flying of aircrafts. The airplanes are modeled as point mass and represented by double integrators. And all the planes are considered to be in a plane. 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 two layer hierarchical system in which the global information comes from the top layer. Following this global information, a square is formed in the bottom layer according to tracking of the top layer setting. Two cases are considered in this paper: the first is the time optimal square forming problem. The other is maintenance and movement of the formation, both are solved in this hierarchical structure. Numerical results from simulating these two cases are presented. From the simulation results, the effectiveness of the hierarchical concept for the UAV class of problems is demonstrated.
X. Wang and S. N. Balakrishnan, "Optimal and Hierarchical Formation Control for UAV," Proceedings of the 2005, American Control Conference, 2005, Institute of Electrical and Electronics Engineers (IEEE), Jan 2005.
The definitive version is available at https://doi.org/10.1109/ACC.2005.1470735
2005, American Control Conference, 2005
Mechanical and Aerospace Engineering
Keywords and Phrases
UAV Control; Aircraft Control; Aircrafts; Cooperative Formation Flying; Hierarchical Formation Control; Hierarchical Systems; Optimal Control; Optimal Formation Control; Remotely Operated Vehicles
International Standard Serial Number (ISSN)
Article - Conference proceedings
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