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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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Authors and Affiliations
Department of Mechanical and Mechatronics Engineering, University of Waterloo, 200 University Avenue West, Waterloo, Ontario, Canada
Ismail Bayezit & Baris Fidan
- Ismail Bayezit
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Editors and Affiliations
Department of Electrical and Computer Engineering, University of Waterloo, N2L 3G1, Waterloo, ON, Canada
Mohamed Kamel & Fakhri Karray &
School of Information Technology and Engineering (SITE), University of Orrawa, 800 King Edward Avenue, K1N 6N5, Ottawa, ON, Canada
Wail Gueaieb
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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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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