[1]QIN Shi-yin,PAN Yu-xiong,SU Shan-wei.Design and simulation of formation flight control laws for small unmanned aerial vehicles[J].CAAI Transactions on Intelligent Systems,2009,4(3):218-225.
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Design and simulation of formation flight control laws for small unmanned aerial vehicles

CAAI Transactions on Intelligent Systems[ISSN 1673-4785/CN 23-1538/TP] Volume: 4 Number of periods: 2009 3 Page number: 218-225 Column: 学术论文—智能系统 Public date: 2009-06-25
Title:
Design and simulation of formation flight control laws for small unmanned aerial vehicles
Author(s):
QIN Shi-yin;  PAN Yu-xiong;  SU Shan-wei
School of Automation Science and Electrical Engineering, Beihang University, Beijing 100191, China
Keywords:
unmanned aerial vehicle;  formation flight;  formation control law;  formation keeping;  formation changing
CLC:
TP273.1
DOI:
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Abstract:
Based on general conditions as well as those limiting formation flight for small unmanned aerial vehicles (UAV)， formation control laws were designed and then validated through simulations. Using the principle of leaderwingman so as to reduce the design complexity of the 3D formation flight controls, three types of control laws were designed, covering forward, lateral and vertical motion respectively. The corresponding implementation algorithms were then analyzed. In view of formation control for multiUAVs, some detailed comparative studies of control performance between leader mode and front mode were carried out. Simulation results showed that the former outperforms the latter. Simulation results of formation keeping for two small UAVs and multiple UAVs under highly maneuvered flight conditions proved the feasibility and effectiveness of the formation control laws.
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