Title

Integrated Optimal Formation Control Of Multiple Unmanned Aerial Vehicles

Keywords

Collision avoidance; Formation control; Multiple unmanned aerial vehicles (UAVs); Obstacle avoidance; Optimal control

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. © 2012 IEEE.

Publication Date

9-1-2013

Publication Title

IEEE Transactions on Control Systems Technology

Volume

21

Issue

5

Number of Pages

1731-1744

Document Type

Article

Personal Identifier

scopus

DOI Link

https://doi.org/10.1109/TCST.2012.2218815

Socpus ID

84897665238 (Scopus)

Source API URL

https://api.elsevier.com/content/abstract/scopus_id/84897665238

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