Formation control of VTOL UAVs without linear-velocity measurements

Abdelkader Abdessameud, A. Tayebi

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

12 Citations (Scopus)

Abstract

We address the formation control problem without linear-velocity measurements for a group of Vertical Take-Off and Landing (VTOL) Unmanned Aerial Vehicles (UAV) with a fixed and undirected communication topology. The vehicles among the team are required to track a desired reference linear-velocity and maintain a desired formation. Our control design is achieved in two main steps. First, an intermediary control input is designed for the translational dynamics, from which we extract the desired system attitude and thrust achieving the formation objective. Then, the torque input for the rotational dynamics of each vehicle is designed to drive the actual attitudes to the desired ones. To obviate the need for linear-velocity, we use instrumental auxiliary variables in each step of the control design. The stability of the overall closed loop system is rigorously established. Simulation results are provided to show the effectiveness of the proposed control scheme.

Original languageEnglish (US)
Title of host publicationProceedings of the 2010 American Control Conference, ACC 2010
Pages2107-2112
Number of pages6
StatePublished - Oct 15 2010
Event2010 American Control Conference, ACC 2010 - Baltimore, MD, United States
Duration: Jun 30 2010Jul 2 2010

Other

Other2010 American Control Conference, ACC 2010
CountryUnited States
CityBaltimore, MD
Period6/30/107/2/10

Fingerprint

Takeoff
Unmanned aerial vehicles (UAV)
Landing
Velocity measurement
Closed loop systems
Torque
Topology
Communication

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering

Cite this

Abdessameud, A., & Tayebi, A. (2010). Formation control of VTOL UAVs without linear-velocity measurements. In Proceedings of the 2010 American Control Conference, ACC 2010 (pp. 2107-2112). [5531323]
Abdessameud, Abdelkader ; Tayebi, A. / Formation control of VTOL UAVs without linear-velocity measurements. Proceedings of the 2010 American Control Conference, ACC 2010. 2010. pp. 2107-2112
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Abdessameud, A & Tayebi, A 2010, Formation control of VTOL UAVs without linear-velocity measurements. in Proceedings of the 2010 American Control Conference, ACC 2010., 5531323, pp. 2107-2112, 2010 American Control Conference, ACC 2010, Baltimore, MD, United States, 6/30/10.

Formation control of VTOL UAVs without linear-velocity measurements. / Abdessameud, Abdelkader; Tayebi, A.

Proceedings of the 2010 American Control Conference, ACC 2010. 2010. p. 2107-2112 5531323.

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

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Abdessameud A, Tayebi A. Formation control of VTOL UAVs without linear-velocity measurements. In Proceedings of the 2010 American Control Conference, ACC 2010. 2010. p. 2107-2112. 5531323