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

Abdelkader Abdessameud

Research output: Chapter in Book/Report/Conference proceedingConference contribution

4 Scopus citations


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 languageEnglish (US)
Title of host publication2019 American Control Conference, ACC 2019
PublisherInstitute of Electrical and Electronics Engineers Inc.
Number of pages6
ISBN (Electronic)9781538679265
StatePublished - Jul 2019
Event2019 American Control Conference, ACC 2019 - Philadelphia, United States
Duration: Jul 10 2019Jul 12 2019

Publication series

NameProceedings of the American Control Conference
ISSN (Print)0743-1619


Conference2019 American Control Conference, ACC 2019
Country/TerritoryUnited States

All Science Journal Classification (ASJC) codes

  • Electrical and Electronic Engineering


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