Rigid formation control for a group of UAVs with augmented models that account for input generator dynamics

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Abstract

The paper solves the trajectory tracking control problem for an unmanned aerial vehicle (UAV) when the input generator dynamic effects are taking into considerations. Using the backstepping method we establish a controller for the considered model that ensures exponential convergence to a given reference trajectory. A two-mode control strategy is applied for increasing the domain of convergence. Then, using the concept of virtual vehicles we consider the application of the proposed controller for a group of UAVs in a rigid formation flight. Simulation results are demonstrated.

Original languageEnglish
Title of host publication24th Mediterranean Conference on Control and Automation, MED 2016
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages1248-1253
Number of pages6
ISBN (Electronic)9781467383455
DOIs
StatePublished - 5 Aug 2016
Event24th Mediterranean Conference on Control and Automation, MED 2016 - Athens, Greece
Duration: 21 Jun 201624 Jun 2016

Publication series

Name24th Mediterranean Conference on Control and Automation, MED 2016

Conference

Conference24th Mediterranean Conference on Control and Automation, MED 2016
Country/TerritoryGreece
CityAthens
Period21/06/1624/06/16

Keywords

  • UAV control
  • backstepping
  • kinematics & dynamics
  • rigid formation control
  • trajectory tracking

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