A Formation guidance law design based on relative-range information for swam flight

Sunghwan Kim; Sungbeom Jo; Sanghyuk Park; Dowan Kim; Chang Kyung Ryoo

doi:10.5302/J.ICROS.2012.18.2.087

A Formation guidance law design based on relative-range information for swam flight

Sunghwan Kim, Sungbeom Jo, Sanghyuk Park, Dowan Kim, Chang Kyung Ryoo

Inha University

Research output: Contribution to journal › Article › peer-review

4 Scopus citations

Abstract

In this paper, a formation guidance method for UAVs (Unmanned Aerial Vehicles) to simulate the formation flight of birds proposed. The proposed method solves all issues of approaching for formation, formation keeping, and scarce chance to be collided with each UAV during formation process. Also, we design the feedforward controller to compensate the change of speed and heading for maneuvering of the leader UAV and the feedback controller to consider the response lag of the system. The stability and performance of the proposed controller is verified via numerical simulations of the full 6-Dof model of UAV.

Original language	English
Pages (from-to)	87-93
Number of pages	7
Journal	Journal of Institute of Control, Robotics and Systems
Volume	18
Issue number	2
DOIs	https://doi.org/10.5302/J.ICROS.2012.18.2.087
State	Published - Feb 2012

Keywords

Autonomous formation flight
Feed-back linearization
Feed-forward control
Formation guidance law
LQR technique
Swam flight
UAV

Access to Document

10.5302/J.ICROS.2012.18.2.087

Cite this

@article{0df00e2cb06841e792b69cd22007c017,

title = "A Formation guidance law design based on relative-range information for swam flight",

abstract = "In this paper, a formation guidance method for UAVs (Unmanned Aerial Vehicles) to simulate the formation flight of birds proposed. The proposed method solves all issues of approaching for formation, formation keeping, and scarce chance to be collided with each UAV during formation process. Also, we design the feedforward controller to compensate the change of speed and heading for maneuvering of the leader UAV and the feedback controller to consider the response lag of the system. The stability and performance of the proposed controller is verified via numerical simulations of the full 6-Dof model of UAV.",

keywords = "Autonomous formation flight, Feed-back linearization, Feed-forward control, Formation guidance law, LQR technique, Swam flight, UAV",

author = "Sunghwan Kim and Sungbeom Jo and Sanghyuk Park and Dowan Kim and Ryoo, {Chang Kyung}",

year = "2012",

month = feb,

doi = "10.5302/J.ICROS.2012.18.2.087",

language = "English",

volume = "18",

pages = "87--93",

journal = "Journal of Institute of Control, Robotics and Systems",

issn = "1976-5622",

publisher = "Institute of Control, Robotics and Systems",

number = "2",

}

TY - JOUR

T1 - A Formation guidance law design based on relative-range information for swam flight

AU - Kim, Sunghwan

AU - Jo, Sungbeom

AU - Park, Sanghyuk

AU - Kim, Dowan

AU - Ryoo, Chang Kyung

PY - 2012/2

Y1 - 2012/2

N2 - In this paper, a formation guidance method for UAVs (Unmanned Aerial Vehicles) to simulate the formation flight of birds proposed. The proposed method solves all issues of approaching for formation, formation keeping, and scarce chance to be collided with each UAV during formation process. Also, we design the feedforward controller to compensate the change of speed and heading for maneuvering of the leader UAV and the feedback controller to consider the response lag of the system. The stability and performance of the proposed controller is verified via numerical simulations of the full 6-Dof model of UAV.

AB - In this paper, a formation guidance method for UAVs (Unmanned Aerial Vehicles) to simulate the formation flight of birds proposed. The proposed method solves all issues of approaching for formation, formation keeping, and scarce chance to be collided with each UAV during formation process. Also, we design the feedforward controller to compensate the change of speed and heading for maneuvering of the leader UAV and the feedback controller to consider the response lag of the system. The stability and performance of the proposed controller is verified via numerical simulations of the full 6-Dof model of UAV.

KW - Autonomous formation flight

KW - Feed-back linearization

KW - Feed-forward control

KW - Formation guidance law

KW - LQR technique

KW - Swam flight

KW - UAV

UR - http://www.scopus.com/inward/record.url?scp=84860160942&partnerID=8YFLogxK

U2 - 10.5302/J.ICROS.2012.18.2.087

DO - 10.5302/J.ICROS.2012.18.2.087

M3 - Article

AN - SCOPUS:84860160942

SN - 1976-5622

VL - 18

SP - 87

EP - 93

JO - Journal of Institute of Control, Robotics and Systems

JF - Journal of Institute of Control, Robotics and Systems

IS - 2

ER -

A Formation guidance law design based on relative-range information for swam flight

Abstract

Keywords

Access to Document

Other files and links

Fingerprint

Cite this