Hierarchical UAV formation control for cooperative surveillance
In this paper, we analyze the problem of rigidly maintaining a formation of three unmanned aerial vehicles (UAVs), whilst surveying a region of interest following, as a team, a particular pre-defined (spiral) trajectory. The UAVs in the formation are constrained to fly at constant speeds and to maintain certain pre-defined inter-agent distances. A decentralized proportional-integral (PI) control scheme (involving certain nonlinear switching terms) is developed for the surveillance and formation...[Show more]
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|Source:||Proceedings of International Federation of Automatic Control World Congress (SYSID 2008)|
|01_Sutton_Hierarchical_UAV_formation_2008.pdf||959.12 kB||Adobe PDF||Request a copy|
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