Integrated Optimal Formation Control of Multiple Unmanned Aerial Vehicles

    Authors

    J. A. Wang;M. Xin

    Comments

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    Abbreviated Journal Title

    IEEE Trans. Control Syst. Technol.

    Keywords

    Collision avoidance; formation control; multiple unmanned aerial; vehicles (UAVs); obstacle avoidance; optimal control; AUTONOMOUS MOBILE ROBOTS; DECENTRALIZED CONTROL; OBSTACLE AVOIDANCE; SYSTEMS; COORDINATION; Automation & Control Systems; Engineering, Electrical & Electronic

    Abstract

    In this paper, we investigate the formation control of multiple unmanned aerial vehicles (UAVs), specifically unmanned aircraft, in an obstacle-laden environment. The main contribution of this paper is to integrate the formation control, trajectory tracking, and obstacle/collision avoidance into one unified optimal control framework. A nonquadratic avoidance cost is innovatively constructed via an inverse optimal control approach, which leads to an analytical, distributed, and optimal formation control law. The stability and optimality of the closed-loop system are proven. In addition, the proposed optimal control law is dependent only on the information from the local neighbors, rather than all UAVs' information. Simulation of multiple UAVs' formation flying demonstrates the effectiveness of the integrated optimal control design with desired behaviors including formation flying, trajectory tracking, and obstacle/collision avoidance.

    Journal Title

    Ieee Transactions on Control Systems Technology

    Volume

    21

    Issue/Number

    5

    Publication Date

    1-1-2013

    Document Type

    Article

    Language

    English

    First Page

    1731

    Last Page

    1744

    WOS Identifier

    WOS:000323512300019

    ISSN

    1063-6536

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