Decentralized overlapping control of a formation of unmanned aerial vehicles

Dušan M. Stipanović*, Gökhan Inalhan, Rodney Teo, Claire J. Tomlin

*Corresponding author for this work

Research output: Contribution to journalConference articlepeer-review

47 Citations (Scopus)

Abstract

Decentralized overlapping feedback laws are designed for a formation of unmanned aerial vehicles. The dynamic model of the formation with an overlapping information structure constraint is treated as an interconnected system with overlapping subsystems. Using the mathematical framework of the inclusion principle, the interconnected system is expanded into a higher dimensional space in which the subsystems appear to be disjoint. On a subsystem level, a static state feedback controller is designed to robustly stabilize the perturbed nominal dynamics of the subsystem. The design procedure is based on the hierarchical application of convex optimization tools involving linear matrix inequalities. As a final step, the decentralized controllers are contracted back to the original interconnected system for implementation.

Original languageEnglish
Pages (from-to)2829-2835
Number of pages7
JournalProceedings of the IEEE Conference on Decision and Control
Volume3
Publication statusPublished - 2002
Externally publishedYes
Event41st IEEE Conference on Decision and Control - Las Vegas, NV, United States
Duration: 10 Dec 200213 Dec 2002

Funding

Claire Tomlin is a recipient of the Eckman Award of the American Automatic Control Council (2003), the AIAA Outstanding Teacher Award, Stanford (2001), NSF Career Award, Stanford (1999), Terman Fellowship, Stanford (1998), the Bernard Friedman Memorial Prize in Applied Mathematics, Berkeley (1998), and the Zonta Amelia Earhart Awards for Aeronautics Research (1996–98). This work was supported in part by DARPA under the Software Enabled Control Program (AFRL contract F33615-99-C-3014), in part by the DoD Multidisciplinary University Research Initiative (MURI) program administered by the Office of Naval Research under Grant N00014-00-1-0637, and in part by AFOSR URI.

FundersFunder number
AFOSR URI
AIAA
American Automatic Control Council
Bernard Friedman Memorial Prize
DoD Multidisciplinary University
Zonta Amelia Earhart Awards for Aeronautics Research1996–98
National Science Foundation
Office of Naval ResearchN00014-00-1-0637
Defense Advanced Research Projects AgencyF33615-99-C-3014

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