Flexible structure control scheme of a UAVs formation to improve the formation stability during maneuvers

• Autorzy: Kownacki C. , Ambroziak L.

Identyfikatory

DOI

10.1515/ama-2017-0026

• Języki publikacji: EN

Abstrakty

EN

One of the issues related to formation flights, which requires to be still discussed, is the stability of formation flight in turns, where the aerodynamic conditions can be substantially different for outer vehicles due to varying bank angles. Therefore, this paper proposes a decentralized control algorithm based on a leader as the reference point for followers, i.e. other UAVs and two flocking behaviors responsible for local position control, i.e. cohesion and repulsion. But opposite to other research in this area, the structure of the formation becomes flexible (structure is being reshaped and bent according to actual turn radius of the leader. During turns the structure is bent basing on concentred circles with different radiuses corresponding to relative locations of vehicles in the structure. Simultaneously, UAVs' airspeeds must be modified according to the length of turn radius to achieve the stability of the structure. The effectiveness of the algorithm is verified by the results of simulated flights of five UAVs.

Słowa kluczowe

EN

unmanned aerial vehicles; UAVs formation; rigid formation; flexible formation

• Wydawca: Oficyna Wydawnicza Politechniki Białostockiej
• Czasopismo: Acta Mechanica et Automatica
• Rocznik: 2017
• Tom: Vol. 11, no. 3
• Strony: 178--185
• Opis fizyczny: Bibliogr. 15 poz., rys., wykr.

Twórcy

autor

Kownacki C.

• Faculty of Mechanical Engineering, Department of Automatics and Robotics, Bialystok University of Technology, ul. Wiejska45C, 15-351 Bialystok, Poland

autor

Ambroziak L.

• Faculty of Mechanical Engineering, Department of Automatics and Robotics, Bialystok University of Technology, ul. Wiejska45C, 15-351 Bialystok, Poland

Bibliografia

• 1. Ambroziak L., Gosiewski Z. (2014), Two stage switching control for autonomous formation flight of Unmanned Aerial Vehicles, Aerospace Science and Technology, 46, 221-226.
• 2. Askari A.; Mortazavi M.; Talebi H.A. (2015), UAV Formation Control via Virtual Structure Approach, Journal of Aerospace Engineering, 28(1), Article number: 04014047 (online).
• 3. Cai D., Sun J., Wu S. (2012), UAVs Formation Flight Control Based on Behavior and Virtual Structure, Communications in Computer and Information Science, 325, 429-438.
• 4. Kownacki C., Ołdziej D. (2015), Flocking Algorithm for Fixed-Wing Unmanned Aerial Vehicles, Advances in Aerospace Guidance, Navigation and Control, Springer, 415-431. Kownacki C., Ołdziej D. (2016), Fixed-wing UAVs Flock Control through Cohesion and Repulsion Behaviours Combined with a Leadership, International Journal of Advanced Robotic Systems, Article number 36 (online),
• 5. Low Ch. B., Ng Q.S. (2011), A flexible virtual structure formation keeping control for fixed-wing UAVs, 9th IEEE International Conference on Control and Automation, 19-21 Decemeber, Santiago, 621-626.
• 6. Norman H. M. Li, Hugh H.T. Liu (2008), Formation UAV Flight Control using Virtual Structure and Motion Synchronization, American Control Conference, June 11-13, Seattle, USA, 1782-1787.
• 7. Quintero S.A.P.,, Collins G.E., Hespanha J.P. (2013), Flocking with Fixed-Wing UAVs for Distributed Sensing: A Stochastic Optimal Control Approach, Conference: American Control Conference, 17-19 June, Washington DC, 2025-2031.
• 8. Ren W., Beard R. W. (2004), Decentralized scheme for spacecraft formation flying via the virtual structure approach, Journal of Guidance, Control and Dynamics, 27(1), 73–82.
• 9. Reynolds, C.W. (1987), Flocks, herds and schools: a distributed behavioral model. In ACM SIGGRAPH Computer Graphics, Proceedings of ACM SIGGRAPH ’87, Anaheim, USA, 27-31 July, ACM Press: New York, USA, 25-34.
• 10. Seo J., Ahn Ch., Kim Y. (2009), Controller Design for UAV Formation Flight Using Consensus based Decentralized Approach, AIAA Infotech@Aerospace Conference Unmanned, Unlimited Conference, 6-9 April, 248-259.
• 11. Shan J., Liu H.T. (2005), Close-formation flight control with motion synchronization, Journal of Guidance, Control and Dynamics, 28(6), 1316–1320.
• 12. Shao Z., Zhu X., Zhou Z., Wang Y. (2014), A Nonlinear Control of 2- D UAVs Formation Keeping via Virtual Structures, Intelligent Robotics and Applications, Lecture Notes in Computer Science, 8917, 420-431.
• 13. Virágh Cs., Vásárhelyi G., Tarcai N., Szörényi T., Somorjai G., Nepusz, T., Vicsek, T. (2014), Flocking algorithm for autonomous flying robots, Bioinspiration & Biomimetics, 9(2), Article number 025012 (online).
• 14. Xingping Ch., Serrani A., Ozbay H. (2003), Control of leaderfollower formations of terrestrial UAVs, Proceedings. 42nd IEEE Conference on Decision and Control, 9-12 December, 498-503.
• 15. Yun B., Chen B.M., Lum K.Y., Lee T.H. (2008), A leader-follower formation flight control scheme for UAV helicopters, IEEE International Conference on Automation and Logistics, 1-3 Septemeber, 39-44.

Uwagi

Opracowanie rekordu w ramach umowy 509/P-DUN/2018 ze środków MNiSW przeznaczonych na działalność upowszechniającą naukę (2018).