@inproceedings{b2843e6299b2431a882d63d4fa4dfa19,
title = "Controllers for flight in a string-type geometry and string stability in a group of UAVs with kinematic and input generator dynamic models",
abstract = "The paper presents a control algorithm for solving the trajectory tracking problem for an Unmanned Aerial Vehicle (UAV) in flight at a fixed altitude when control signal generators are integrated in the model. The approach presented in the article allows us to implement a control law under physical constraints and to avoid singular cases in the control process. Using the concept of virtual vehicles we apply tracking controllers for a group of UAVs flying in a string-type formation. Using the proposed algorithm we establish string stability, and with the help of the concept of L2 string stability the controller reduces the spacing error propagations between the UAVs flying in a convoy-like formation. Numerical and simulation results are demonstrated.",
keywords = "Augmented model, Kinematic model, String stability, String-type formation, Trajectory tracking, UAV control",
author = "Shai Arogeti and Amit Ailon",
note = "Publisher Copyright: {\textcopyright} 2020 Institute of Control, Robotics, and Systems - ICROS.; 20th International Conference on Control, Automation and Systems, ICCAS 2020 ; Conference date: 13-10-2020 Through 16-10-2020",
year = "2020",
month = oct,
day = "13",
doi = "10.23919/ICCAS50221.2020.9268437",
language = "English",
series = "International Conference on Control, Automation and Systems",
publisher = "Institute of Electrical and Electronics Engineers",
pages = "703--708",
booktitle = "2020 20th International Conference on Control, Automation and Systems, ICCAS 2020",
address = "United States",
}