Dual-controller approach to three-dimensional autonomous formation control

Erfu Yang, Yoichiro Masuko, Tsutomu Mita

Research output: Contribution to journalArticle

14 Citations (Scopus)

Abstract

The formation-keeping control problem is addressed for the three-dimensional autonomous formation flight of multiple aircraft. The full nonlinear kinematics model describing the relative position and orientation of the formation flight system is used to develop the nonlinear formation-keeping controllers. To deal with the input-output invertibility problem of the formation control system under consideration, a dual-controller approach is presented in this study. First, the original nonlinear formation system is decomposed into two subsystems. Next, the corresponding controller for each subsystem is developed. By invoking the nonlinear dynamic inversion-based control scheme and the well-known structure algorithm, an output-tracking controller with asymptotic stability is achieved for the first subsystem. The second subsystem is simple, and a relative roll angle-hold controller is designed to achieve an exponential convergence rate. Simulation results are provided to demonstrate the effectiveness of the proposed approach.

LanguageEnglish
Pages336-346
Number of pages11
JournalJournal of Guidance, Control and Dynamics
Volume27
Issue number3
DOIs
Publication statusPublished - May 2004

Fingerprint

Formation Control
controllers
flight
Controller
Subsystem
Three-dimensional
Controllers
control system
aircraft
kinematics
Kinematic Model
Exponential Convergence
Output
simulation
Invertibility
Asymptotic stability
output
Asymptotic Stability
Nonlinear Dynamics
Nonlinear Model

Keywords

  • aircraft
  • algorithms
  • asymptotic stability
  • aviation
  • computer simulation
  • flight dynamics
  • functions
  • kinematics
  • mathematical models
  • nonlinear control systems
  • vectors

Cite this

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Dual-controller approach to three-dimensional autonomous formation control. / Yang, Erfu; Masuko, Yoichiro; Mita, Tsutomu.

In: Journal of Guidance, Control and Dynamics, Vol. 27, No. 3, 05.2004, p. 336-346.

Research output: Contribution to journalArticle

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