Controllers for flight in a string-type geometry and string stability in a group of UAVs with kinematic and input generator dynamic models

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

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.

Original languageEnglish
Title of host publication2020 20th International Conference on Control, Automation and Systems, ICCAS 2020
PublisherIEEE Computer Society
Pages703-708
Number of pages6
ISBN (Electronic)9788993215205
DOIs
StatePublished - 13 Oct 2020
Event20th International Conference on Control, Automation and Systems, ICCAS 2020 - Busan, Korea, Republic of
Duration: 13 Oct 202016 Oct 2020

Publication series

NameInternational Conference on Control, Automation and Systems
Volume2020-October
ISSN (Print)1598-7833

Conference

Conference20th International Conference on Control, Automation and Systems, ICCAS 2020
Country/TerritoryKorea, Republic of
CityBusan
Period13/10/2016/10/20

Keywords

  • Augmented model
  • Kinematic model
  • String stability
  • String-type formation
  • Trajectory tracking
  • UAV control

ASJC Scopus subject areas

  • Artificial Intelligence
  • Computer Science Applications
  • Control and Systems Engineering
  • Electrical and Electronic Engineering

Fingerprint

Dive into the research topics of 'Controllers for flight in a string-type geometry and string stability in a group of UAVs with kinematic and input generator dynamic models'. Together they form a unique fingerprint.

Cite this