Delin Luo, Wenlong Xu, and Shunxiang Wu
Unmanned aerial vehicle, formation flight, formation holding, for-mation control, transformation strategy
During formation flight for a group of unmanned aerial vehicles (UAVs), the UAV formation sometimes needs to be adjusted or transformed from one to another in cases of environmental change, task alternation as well as the drop of some UAVs in the group. For the adjustment and transformation of flight formation shape, collision between UAVs should be avoided and the formation switch process should be completed with in a given time. In this paper, proportional-integral-derivative (PID) control approach is used to design the controller for UAV formation holding first, then three formation transformation strategies are designed and a control method is adopted to ensure the transformation process can be accomplished within limited time. Simulation results demonstrate the effectiveness of the presented approach for UAV formation control and transformation.
Important Links:
Go Back
