S-Space College of Engineering/Engineering Practice School (공과대학/대학원) Dept. of Mechanical Aerospace Engineering (기계항공공학부) Others_기계항공공학부
Decentralized Controller Design for Formation Flight with UAV Failure Detection Logic
- Seo, Joongbo; Kim, Youdan; Park, Chan Gook
- Issue Date
- 27th International Congress of the Aeronautical Sciences (ICAS 2010)
- This paper proposes a decentralized formation
controller based on the consensus protocol and
an Unmanned Aerial Vehicle(UAV) failure detection
logic for formation flight. Feedback linearisation
method is used to design controller
to maintain a specified time-varying geometric
configuration of multiple unmanned aerial vehicles.
The information flow topologies between
the vehicles can be defined by a Graph Laplacian
matrix. An failure detection logic for formation
flight is proposed, and the sudden disruption
among the formation interconnections can be
regulated by reforming the Graph Laplacian matrix.
Stability analysis of the proposed formation
controller is carried out. Numerical simulation is
performed to verify the performance of the proposed
controller under the dynamic formation geometry
considering the failure of UAVs.
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