Nonlinear maneuvering control of rigid formations of fixed wing UAVs

Ismail Bayezit; Baris Fidan

doi:10.1007/978-3-642-21538-4_13

Nonlinear maneuvering control of rigid formations of fixed wing UAVs

Ismail Bayezit^*, Baris Fidan

^*Corresponding author for this work

University of Waterloo

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

2 Citations (Scopus)

Abstract

This paper is on autonomous three-dimensional maneuvering of teams of fixed-wing unmanned aerial vehicles (UAVs), cooperating with each other during the mission flight. The goal is to design a distributed control scheme that preserves the shape of the UAV team formation by keeping the inter-agent distances constant during arbitrary maneuvers. The paper considers the dynamic characteristics and constraints of the UAVs resulting from being fixed-wing; and proposes a Lyapunov analysis based individual UAV control design to complement the distributed control scheme. After presentation of formal design of the distributed control scheme and individual UAV controllers, simulation results are provided demonstrating effectiveness of the proposed control design.

Original language	English
Title of host publication	Autonomous and Intelligent Systems - Second International Conference, AIS 2011, Proceedings
Pages	124-133
Number of pages	10
DOIs	https://doi.org/10.1007/978-3-642-21538-4_13
Publication status	Published - 2011
Externally published	Yes
Event	2nd International Conference on Autonomous and Intelligent Systems, AIS 2011 - Burnaby, BC, Canada Duration: 22 Jun 2011 → 24 Jun 2011

Publication series

Name	Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Volume	6752 LNAI
ISSN (Print)	0302-9743
ISSN (Electronic)	1611-3349

Conference

Conference	2nd International Conference on Autonomous and Intelligent Systems, AIS 2011
Country/Territory	Canada
City	Burnaby, BC
Period	22/06/11 → 24/06/11

Keywords

autonomous vehicles
cohesive motion
cooperative control
fixed-wing UAV
formation control
Rigid formations

Access to Document

10.1007/978-3-642-21538-4_13

Cite this

Bayezit, I., & Fidan, B. (2011). Nonlinear maneuvering control of rigid formations of fixed wing UAVs. In Autonomous and Intelligent Systems - Second International Conference, AIS 2011, Proceedings (pp. 124-133). (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 6752 LNAI). https://doi.org/10.1007/978-3-642-21538-4_13

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title = "Nonlinear maneuvering control of rigid formations of fixed wing UAVs",

abstract = "This paper is on autonomous three-dimensional maneuvering of teams of fixed-wing unmanned aerial vehicles (UAVs), cooperating with each other during the mission flight. The goal is to design a distributed control scheme that preserves the shape of the UAV team formation by keeping the inter-agent distances constant during arbitrary maneuvers. The paper considers the dynamic characteristics and constraints of the UAVs resulting from being fixed-wing; and proposes a Lyapunov analysis based individual UAV control design to complement the distributed control scheme. After presentation of formal design of the distributed control scheme and individual UAV controllers, simulation results are provided demonstrating effectiveness of the proposed control design.",

keywords = "autonomous vehicles, cohesive motion, cooperative control, fixed-wing UAV, formation control, Rigid formations",

author = "Ismail Bayezit and Baris Fidan",

year = "2011",

doi = "10.1007/978-3-642-21538-4_13",

language = "English",

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series = "Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)",

pages = "124--133",

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Bayezit, I & Fidan, B 2011, Nonlinear maneuvering control of rigid formations of fixed wing UAVs. in Autonomous and Intelligent Systems - Second International Conference, AIS 2011, Proceedings. Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics), vol. 6752 LNAI, pp. 124-133, 2nd International Conference on Autonomous and Intelligent Systems, AIS 2011, Burnaby, BC, Canada, 22/06/11. https://doi.org/10.1007/978-3-642-21538-4_13

Nonlinear maneuvering control of rigid formations of fixed wing UAVs. / Bayezit, Ismail; Fidan, Baris.
Autonomous and Intelligent Systems - Second International Conference, AIS 2011, Proceedings. 2011. p. 124-133 (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 6752 LNAI).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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AB - This paper is on autonomous three-dimensional maneuvering of teams of fixed-wing unmanned aerial vehicles (UAVs), cooperating with each other during the mission flight. The goal is to design a distributed control scheme that preserves the shape of the UAV team formation by keeping the inter-agent distances constant during arbitrary maneuvers. The paper considers the dynamic characteristics and constraints of the UAVs resulting from being fixed-wing; and proposes a Lyapunov analysis based individual UAV control design to complement the distributed control scheme. After presentation of formal design of the distributed control scheme and individual UAV controllers, simulation results are provided demonstrating effectiveness of the proposed control design.

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Bayezit I, Fidan B. Nonlinear maneuvering control of rigid formations of fixed wing UAVs. In Autonomous and Intelligent Systems - Second International Conference, AIS 2011, Proceedings. 2011. p. 124-133. (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)). doi: 10.1007/978-3-642-21538-4_13

Nonlinear maneuvering control of rigid formations of fixed wing UAVs

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