A nonlinear control of 2-D UAVs formation keeping via virtual structures

Zhuang Shao; Xiaoping Zhu; Zhou Zhou; Yanxiong Wang

doi:10.1007/978-3-319-13966-1_41

A nonlinear control of 2-D UAVs formation keeping via virtual structures

Zhuang Shao
, Xiaoping Zhu
, Zhou Zhou
, Yanxiong Wang

School of Aeronautics

Northwestern Polytechnical University Xian

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

5 Scopus citations

Abstract

In this paper, a nonlinear controller for UAVs formation keeping in 2-D situation is designed. In this design, virtual structure approach is applied for formation definition, and Lyapunov stability theory is applied to obtain the original nonlinear controller. And, a nonlinear function is used to make the controller more efficient combined with the differential and integral techniques. Simulation results show that UAVs formation keeping is well achieved with the controllers designed and which present better performance than the existing linear PI controllers.

Original language	English
Pages (from-to)	420-431
Number of pages	12
Journal	Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Volume	8917
DOIs	https://doi.org/10.1007/978-3-319-13966-1_41
State	Published - 2014

Keywords

Formation keeping
Nonlinear control
UAV
Virtual structure

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10.1007/978-3-319-13966-1_41

Cite this

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title = "A nonlinear control of 2-D UAVs formation keeping via virtual structures",

abstract = "In this paper, a nonlinear controller for UAVs formation keeping in 2-D situation is designed. In this design, virtual structure approach is applied for formation definition, and Lyapunov stability theory is applied to obtain the original nonlinear controller. And, a nonlinear function is used to make the controller more efficient combined with the differential and integral techniques. Simulation results show that UAVs formation keeping is well achieved with the controllers designed and which present better performance than the existing linear PI controllers.",

keywords = "Formation keeping, Nonlinear control, UAV, Virtual structure",

author = "Zhuang Shao and Xiaoping Zhu and Zhou Zhou and Yanxiong Wang",

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AU - Shao, Zhuang

AU - Zhu, Xiaoping

AU - Zhou, Zhou

AU - Wang, Yanxiong

N1 - Publisher Copyright: © Springer International Publishing Switzerland 2014.

PY - 2014

Y1 - 2014

N2 - In this paper, a nonlinear controller for UAVs formation keeping in 2-D situation is designed. In this design, virtual structure approach is applied for formation definition, and Lyapunov stability theory is applied to obtain the original nonlinear controller. And, a nonlinear function is used to make the controller more efficient combined with the differential and integral techniques. Simulation results show that UAVs formation keeping is well achieved with the controllers designed and which present better performance than the existing linear PI controllers.

AB - In this paper, a nonlinear controller for UAVs formation keeping in 2-D situation is designed. In this design, virtual structure approach is applied for formation definition, and Lyapunov stability theory is applied to obtain the original nonlinear controller. And, a nonlinear function is used to make the controller more efficient combined with the differential and integral techniques. Simulation results show that UAVs formation keeping is well achieved with the controllers designed and which present better performance than the existing linear PI controllers.

KW - Formation keeping

KW - Nonlinear control

KW - UAV

KW - Virtual structure

UR - https://www.scopus.com/pages/publications/84911889992

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JO - Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)

JF - Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)

ER -

A nonlinear control of 2-D UAVs formation keeping via virtual structures

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Keywords

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