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Nonlinear Maneuvering Control of Rigid Formations of Fixed Wing UAVs

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Part of the book series:Lecture Notes in Computer Science ((LNAI,volume 6752))

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Abstract

This paper is on autonomous three-dimensional maneuvering of teams of fixed-wingunmanned 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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Author information

Authors and Affiliations

  1. Department of Mechanical and Mechatronics Engineering, University of Waterloo, 200 University Avenue West, Waterloo, Ontario, Canada

    Ismail Bayezit & Baris Fidan

Authors
  1. Ismail Bayezit

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  2. Baris Fidan

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Editor information

Editors and Affiliations

  1. Department of Electrical and Computer Engineering, University of Waterloo, N2L 3G1, Waterloo, ON, Canada

    Mohamed Kamel  & Fakhri Karray  & 

  2. School of Information Technology and Engineering (SITE), University of Orrawa, 800 King Edward Avenue, K1N 6N5, Ottawa, ON, Canada

    Wail Gueaieb

  3. Faculty of Engineering and Material Science, Department of Mechatronics Engineering, German University in Egypt, Main Entrance El Tagamoa El Khames, New Cairo City, Egypt

    Alaa Khamis

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© 2011 Springer-Verlag Berlin Heidelberg

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Bayezit, I., Fidan, B. (2011). Nonlinear Maneuvering Control of Rigid Formations of Fixed Wing UAVs. In: Kamel, M., Karray, F., Gueaieb, W., Khamis, A. (eds) Autonomous and Intelligent Systems. AIS 2011. Lecture Notes in Computer Science(), vol 6752. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-21538-4_13

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Chapter
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  • Read on any device
  • Instant download
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eBook
JPY 5719
Price includes VAT (Japan)
  • Available as PDF
  • Read on any device
  • Instant download
  • Own it forever
Softcover Book
JPY 7149
Price includes VAT (Japan)
  • Compact, lightweight edition
  • Dispatched in 3 to 5 business days
  • Free shipping worldwide -see info

Tax calculation will be finalised at checkout

Purchases are for personal use only


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