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Conference Paper: Mesh stability of unmanned aerial vehicle clusters

TitleMesh stability of unmanned aerial vehicle clusters
Authors
Issue Date2001
PublisherAmerican Automatic Control Council. The Journal's web site is located at http://ieeexplore.ieee.org/xpl/conhome.jsp?punumber=1000030
Citation
Proceedings Of The American Control Conference, 2001, v. 1, p. 62-68 How to Cite?
AbstractIn this paper we present a cluster controller design of a mesh of helicopters which, produces the trajectory to be tracked in terms of desired acceleration. As an intermediate step for the formation flying of a cluster of helicopters an individual helicopter controller is designed which accepts the trajectory to be tracked in terms of desired accelerations. The design uses the fact that the linear position dynamics of a helicopter are slow compared to the attitude dynamics. Next we discuss the design of a higher level cluster controller assuming simple double integrator dynamics. The results show that we need leader information to achieve mesh stability in case of point masses. The higher level mesh controller is then used for simulation of a formation flight of a cluster of helicopters. It is observed that the intuition about mesh stability obtained with simple double integrator dynamics is carried over to the case of helicopters.
Persistent Identifierhttp://hdl.handle.net/10722/188698
ISSN
References

 

DC FieldValueLanguage
dc.contributor.authorPant, Aen_US
dc.contributor.authorSeiler, Pen_US
dc.contributor.authorKoo, TJen_US
dc.contributor.authorHedrick, Ken_US
dc.date.accessioned2013-09-03T04:13:34Z-
dc.date.available2013-09-03T04:13:34Z-
dc.date.issued2001en_US
dc.identifier.citationProceedings Of The American Control Conference, 2001, v. 1, p. 62-68en_US
dc.identifier.issn0743-1619en_US
dc.identifier.urihttp://hdl.handle.net/10722/188698-
dc.description.abstractIn this paper we present a cluster controller design of a mesh of helicopters which, produces the trajectory to be tracked in terms of desired acceleration. As an intermediate step for the formation flying of a cluster of helicopters an individual helicopter controller is designed which accepts the trajectory to be tracked in terms of desired accelerations. The design uses the fact that the linear position dynamics of a helicopter are slow compared to the attitude dynamics. Next we discuss the design of a higher level cluster controller assuming simple double integrator dynamics. The results show that we need leader information to achieve mesh stability in case of point masses. The higher level mesh controller is then used for simulation of a formation flight of a cluster of helicopters. It is observed that the intuition about mesh stability obtained with simple double integrator dynamics is carried over to the case of helicopters.en_US
dc.languageengen_US
dc.publisherAmerican Automatic Control Council. The Journal's web site is located at http://ieeexplore.ieee.org/xpl/conhome.jsp?punumber=1000030en_US
dc.relation.ispartofProceedings of the American Control Conferenceen_US
dc.titleMesh stability of unmanned aerial vehicle clustersen_US
dc.typeConference_Paperen_US
dc.identifier.emailKoo, TJ: john.koo@siat.ac.cnen_US
dc.identifier.authorityKoo, TJ=rp01787en_US
dc.description.naturelink_to_subscribed_fulltexten_US
dc.identifier.scopuseid_2-s2.0-0034840903en_US
dc.relation.referenceshttp://www.scopus.com/mlt/select.url?eid=2-s2.0-0034840903&selection=ref&src=s&origin=recordpageen_US
dc.identifier.volume1en_US
dc.identifier.spage62en_US
dc.identifier.epage68en_US
dc.publisher.placeUnited Statesen_US
dc.identifier.scopusauthoridPant, A=7005171277en_US
dc.identifier.scopusauthoridSeiler, P=55547114371en_US
dc.identifier.scopusauthoridKoo, TJ=7005428590en_US
dc.identifier.scopusauthoridHedrick, K=6603742734en_US

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