Hybrid three-dimensional formation control for unmanned helicopters

被引：107

作者：

Karimoddini, Ali ^{[1
,2
]}

Lin, Hai ^{[3
]}

Chen, Ben M. ^{[1
,2
]}

Lee, Tong Heng ^{[1
,2
]}

机构：

[1] Natl Univ Singapore, Grad Sch Integrat Sci & Engn NGS, Singapore 117548, Singapore

[2] Natl Univ Singapore, Dept Elect & Comp Engn ECE, Singapore 117548, Singapore

[3] Univ Notre Dame, Dept Elect Engn, Notre Dame, IN 46556 USA

来源：

AUTOMATICA | 2013年 / 49卷 / 02期

关键词：

Formation control; Unmanned aerial vehicles; Hybrid supervisory control; SYSTEMS; DESIGN;

D O I：

10.1016/j.automatica.2012.10.008

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper presents a hybrid supervisory control framework for the three-dimensional leader-follower formation control of unmanned helicopters. In particular, a spherical abstraction of the state space is proposed. Utilizing the properties of multi-affine functions over the partitioned space, a finite state model is obtained, which is shown to be bisimilar to the original continuous-variable dynamical system. Then, in the discrete domain, a logic supervisor is modularly designed for the abstracted model, which can be recaptured as a hybrid controller for the original continuous-variable dynamics. The designed hybrid supervisor is able to bring the unmanned helicopters to the desired formation, starting from any initial point inside the control horizon, and then maintain the formation. Moreover, a collision avoidance mechanism is embedded in the designed supervisor. The algorithm is verified through hardware-in-the-loop simulations. (C) 2012 Elsevier Ltd. All rights reserved.

引用

页码：424 / 433

页数：10

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