Formation control of VTOL-UAVs

Abdelkader Abdessameud, A. Tayebi

Research output: Chapter in Book/Report/Conference proceedingConference contribution

26 Citations (Scopus)

Abstract

This paper considers the formation control problem of a group of Vertical Take-Off and Landing (VTOL) Unmanned Aerial Vehicles (UAV) in SE(3). The vehicles among the team are required to track a reference velocity signal and maintain a desired formation. For each vehicle in the formation, we propose a design methodology based on the separation of the translational and the rotational dynamics, using the desired orientation, in terms of the unit-quaternion, as an intermediate variable to achieve our position tracking objective. Global asymptotic stability result of the closed loop system is established using the Lyapunov method. The communication topology between formation team members is assumed to be fixed and bidirectional. Our control scheme can also be applied to the position control of a single VTOL-UAV and constitute, in its own right, an interesting contribution since global results are seldom achieved in the available literature. Finally, simulation results of a scenario of four VTOL-UAVs in a formation are provided to show the effectiveness of the proposed control scheme.

Original languageEnglish (US)
Title of host publicationProceedings of the 48th IEEE Conference on Decision and Control held jointly with 2009 28th Chinese Control Conference, CDC/CCC 2009
Pages3454-3459
Number of pages6
DOIs
StatePublished - Dec 1 2009
Event48th IEEE Conference on Decision and Control held jointly with 2009 28th Chinese Control Conference, CDC/CCC 2009 - Shanghai, China
Duration: Dec 15 2009Dec 18 2009

Other

Other48th IEEE Conference on Decision and Control held jointly with 2009 28th Chinese Control Conference, CDC/CCC 2009
CountryChina
CityShanghai
Period12/15/0912/18/09

Fingerprint

Formation Control
Takeoff
Unmanned aerial vehicles (UAV)
Landing
Vertical
Lyapunov methods
Position control
Asymptotic stability
Closed loop systems
Lyapunov Methods
Position Control
Global Asymptotic Stability
Quaternion
Topology
Closed-loop System
Design Methodology
Control Problem
Communication
Scenarios
Unit

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Modeling and Simulation
  • Control and Optimization

Cite this

Abdessameud, A., & Tayebi, A. (2009). Formation control of VTOL-UAVs. In Proceedings of the 48th IEEE Conference on Decision and Control held jointly with 2009 28th Chinese Control Conference, CDC/CCC 2009 (pp. 3454-3459). [5400941] https://doi.org/10.1109/CDC.2009.5400941
Abdessameud, Abdelkader ; Tayebi, A. / Formation control of VTOL-UAVs. Proceedings of the 48th IEEE Conference on Decision and Control held jointly with 2009 28th Chinese Control Conference, CDC/CCC 2009. 2009. pp. 3454-3459
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Abdessameud, A & Tayebi, A 2009, Formation control of VTOL-UAVs. in Proceedings of the 48th IEEE Conference on Decision and Control held jointly with 2009 28th Chinese Control Conference, CDC/CCC 2009., 5400941, pp. 3454-3459, 48th IEEE Conference on Decision and Control held jointly with 2009 28th Chinese Control Conference, CDC/CCC 2009, Shanghai, China, 12/15/09. https://doi.org/10.1109/CDC.2009.5400941

Formation control of VTOL-UAVs. / Abdessameud, Abdelkader; Tayebi, A.

Proceedings of the 48th IEEE Conference on Decision and Control held jointly with 2009 28th Chinese Control Conference, CDC/CCC 2009. 2009. p. 3454-3459 5400941.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

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AB - This paper considers the formation control problem of a group of Vertical Take-Off and Landing (VTOL) Unmanned Aerial Vehicles (UAV) in SE(3). The vehicles among the team are required to track a reference velocity signal and maintain a desired formation. For each vehicle in the formation, we propose a design methodology based on the separation of the translational and the rotational dynamics, using the desired orientation, in terms of the unit-quaternion, as an intermediate variable to achieve our position tracking objective. Global asymptotic stability result of the closed loop system is established using the Lyapunov method. The communication topology between formation team members is assumed to be fixed and bidirectional. Our control scheme can also be applied to the position control of a single VTOL-UAV and constitute, in its own right, an interesting contribution since global results are seldom achieved in the available literature. Finally, simulation results of a scenario of four VTOL-UAVs in a formation are provided to show the effectiveness of the proposed control scheme.

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Abdessameud A, Tayebi A. Formation control of VTOL-UAVs. In Proceedings of the 48th IEEE Conference on Decision and Control held jointly with 2009 28th Chinese Control Conference, CDC/CCC 2009. 2009. p. 3454-3459. 5400941 https://doi.org/10.1109/CDC.2009.5400941