Formation control of vtol-uavs under directed and dynamically-changing topologies

Abdelkader Abdessameud

doi:10.23919/acc.2019.8815314

Formation control of vtol-uavs under directed and dynamically-changing topologies

Abdelkader Abdessameud

School of Science, Engineering & Technology (Harrisburg)

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

4 Scopus citations

Abstract

This paper addresses the formation control problem of a group of Vertical Take-Off and Landing (VTOL) Unmanned Aerial Vehicles (UAVs) under directed and dynamically-changing interconnection graphs. Based on the hierarchical control design framework, we present a distributed algorithm that steers the vehicles to a desired geometric shape using only local interaction between the vehicles. The proposed algorithm is based on instrumental dynamic systems that ensure a singularity-free operation of each vehicle and achieve our control objective under a directed graph containing a spanning tree frequently enough. A numerical example is given to illustrate the effectiveness of the proposed approach.

Original language	English (US)
Title of host publication	2019 American Control Conference, ACC 2019
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	2042-2047
Number of pages	6
ISBN (Electronic)	9781538679265
DOIs	https://doi.org/10.23919/acc.2019.8815314
State	Published - Jul 2019
Event	2019 American Control Conference, ACC 2019 - Philadelphia, United States Duration: Jul 10 2019 → Jul 12 2019

Publication series

Name	Proceedings of the American Control Conference
Volume	2019-July
ISSN (Print)	0743-1619

Conference

Conference	2019 American Control Conference, ACC 2019
Country/Territory	United States
City	Philadelphia
Period	7/10/19 → 7/12/19

All Science Journal Classification (ASJC) codes

Electrical and Electronic Engineering

Access to Document

10.23919/acc.2019.8815314

Cite this

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title = "Formation control of vtol-uavs under directed and dynamically-changing topologies",

abstract = "This paper addresses the formation control problem of a group of Vertical Take-Off and Landing (VTOL) Unmanned Aerial Vehicles (UAVs) under directed and dynamically-changing interconnection graphs. Based on the hierarchical control design framework, we present a distributed algorithm that steers the vehicles to a desired geometric shape using only local interaction between the vehicles. The proposed algorithm is based on instrumental dynamic systems that ensure a singularity-free operation of each vehicle and achieve our control objective under a directed graph containing a spanning tree frequently enough. A numerical example is given to illustrate the effectiveness of the proposed approach.",

author = "Abdelkader Abdessameud",

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year = "2019",

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doi = "10.23919/acc.2019.8815314",

language = "English (US)",

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Abdessameud, A 2019, Formation control of vtol-uavs under directed and dynamically-changing topologies. in 2019 American Control Conference, ACC 2019., 8815314, Proceedings of the American Control Conference, vol. 2019-July, Institute of Electrical and Electronics Engineers Inc., pp. 2042-2047, 2019 American Control Conference, ACC 2019, Philadelphia, United States, 7/10/19. https://doi.org/10.23919/acc.2019.8815314

Formation control of vtol-uavs under directed and dynamically-changing topologies. / Abdessameud, Abdelkader.
2019 American Control Conference, ACC 2019. Institute of Electrical and Electronics Engineers Inc., 2019. p. 2042-2047 8815314 (Proceedings of the American Control Conference; Vol. 2019-July).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

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AB - This paper addresses the formation control problem of a group of Vertical Take-Off and Landing (VTOL) Unmanned Aerial Vehicles (UAVs) under directed and dynamically-changing interconnection graphs. Based on the hierarchical control design framework, we present a distributed algorithm that steers the vehicles to a desired geometric shape using only local interaction between the vehicles. The proposed algorithm is based on instrumental dynamic systems that ensure a singularity-free operation of each vehicle and achieve our control objective under a directed graph containing a spanning tree frequently enough. A numerical example is given to illustrate the effectiveness of the proposed approach.

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Formation control of vtol-uavs under directed and dynamically-changing topologies

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