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Autonomous Control Systems and VehiclesDecentralised Formation Control of Unmanned Aerial Vehicles Using Virtual Leaders

Autonomous Control Systems and Vehicles: Decentralised Formation Control of Unmanned Aerial... [In this chapter, a simple but robust formation control scheme for unmanned aerial vehicles is proposed. The proposed scheme is based on the virtual leader approach. Mathematical proof is provided to show that the scheme allows formations to converge, as long as sufficient communications between formation members take place. Monte Carlo tests showed that the proposed scheme allows formations with 95% of the possible communication networks to converge. Also, numerical simulations showed that proposed scheme allows formations to converge even if only 10% of the total communication succeeds.] http://www.deepdyve.com/assets/images/DeepDyve-Logo-lg.png

Autonomous Control Systems and VehiclesDecentralised Formation Control of Unmanned Aerial Vehicles Using Virtual Leaders

Part of the Intelligent Systems, Control and Automation: Science and Engineering Book Series (volume 65)
Editors: Nonami, Kenzo; Kartidjo, Muljowidodo; Yoon, Kwang-Joon; Budiyono, Agus
Hino, Takuma; Tsuchiya, Takeshi
Autonomous Control Systems and Vehicles — Mar 16, 2013
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Publisher
Springer Japan
Copyright
© Springer Japan 2013
ISBN
978-4-431-54275-9
Pages
133 –144
DOI
10.1007/978-4-431-54276-6_9
Publisher site
See Chapter on Publisher Site

Abstract

[In this chapter, a simple but robust formation control scheme for unmanned aerial vehicles is proposed. The proposed scheme is based on the virtual leader approach. Mathematical proof is provided to show that the scheme allows formations to converge, as long as sufficient communications between formation members take place. Monte Carlo tests showed that the proposed scheme allows formations with 95% of the possible communication networks to converge. Also, numerical simulations showed that proposed scheme allows formations to converge even if only 10% of the total communication succeeds.]

Published: Mar 16, 2013

Keywords: Formation control; Robustness; Virtual leader

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