Group control and string stability for UAV kinematic and dynamic models

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

Abstract

The paper considers control issues in a multi-UAV system as both kinematics and dynamics are intertwined in the mathematical model of the aerial vehicles. To obtain an effective controller for the augmented model of the group members we apply the backstepping procedure. Special attention is given to control a group in a string-like formation and to ensure string stability for reducing the spacing error propagation between vehicles along the string. Finally, demonstrations of the performance and the efficiency of the proposed control algorithms in fulfilling various group tasks, will be presented.

Original languageEnglish
Title of host publication2017 Workshop on Research, Education and Development of Unmanned Aerial Systems, RED-UAS 2017
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages96-101
Number of pages6
ISBN (Electronic)9781538609392
DOIs
StatePublished - 8 Nov 2017
Event2017 Workshop on Research, Education and Development of Unmanned Aerial Systems, RED-UAS 2017 - Linkoping, Sweden
Duration: 3 Oct 20175 Oct 2017

Publication series

Name2017 Workshop on Research, Education and Development of Unmanned Aerial Systems, RED-UAS 2017

Conference

Conference2017 Workshop on Research, Education and Development of Unmanned Aerial Systems, RED-UAS 2017
Country/TerritorySweden
CityLinkoping
Period3/10/175/10/17

Keywords

  • Unmanned aerial vehicle
  • kinematic and dynamic equations
  • string stability
  • string-like formation
  • tracking controller

ASJC Scopus subject areas

  • Artificial Intelligence
  • Aerospace Engineering
  • Control and Optimization
  • Modeling and Simulation
  • Education

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