Formation flight using multiple integral backstepping controllers

Alon Davidi, Nadav Berman, Shai Arogeti

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

14 Scopus citations

Abstract

In this paper, a new approach for the formation control of a group of UAVs is presented. The proposed method is based on a combination of multiple Integral Backstepping (IB) controllers. The paper considers a group of quadrotor UAVs, each having an identical nonlinear dynamics. The stability of the formation flight is shown using the Lyapunov approach. The main contribution of the paper stems from the proposed combination of individual controllers, where each individual controller satisfies a reference configuration between two UAVs. The combination of all individual controllers provides the total force and moments required, in each UAV, for the stability of the formation.

Original languageEnglish
Title of host publicationProceedings of the 2011 IEEE 5th International Conference on Cybernetics and Intelligent Systems, CIS 2011
Pages317-322
Number of pages6
DOIs
StatePublished - 9 Dec 2011
Event2011 IEEE 5th International Conference on Cybernetics and Intelligent Systems, CIS 2011 - Qingdao, China
Duration: 17 Sep 201119 Sep 2011

Publication series

NameProceedings of the 2011 IEEE 5th International Conference on Cybernetics and Intelligent Systems, CIS 2011

Conference

Conference2011 IEEE 5th International Conference on Cybernetics and Intelligent Systems, CIS 2011
Country/TerritoryChina
CityQingdao
Period17/09/1119/09/11

Keywords

  • Integral backstepping control
  • formation flight
  • quadrotor
  • virtual leader

ASJC Scopus subject areas

  • Artificial Intelligence
  • Computer Networks and Communications
  • Information Systems

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