Formation Control with Collision Avoidance

被引：0

作者：

Bencatel, Ricardo ^{[1
]}

Faied, Mariam ^{[2
]}

Sousa, Joao ^{[1
]}

Girard, Anouck R. ^{[2
]}

机构：

[1] Univ Porto, Dept Elect & Comp Engn, Sch Engn, P-4200 Oporto, Portugal

[2] Univ Michigan, Dept Aerosp Engn, Ann Arbor, MI 48109 USA

来源：

2011 50TH IEEE CONFERENCE ON DECISION AND CONTROL AND EUROPEAN CONTROL CONFERENCE (CDC-ECC) | 2011年

关键词：

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

We present a formation flight control strategy featuring a collision avoidance scheme. The control algorithm is based on a Sliding Mode controller. The controller sliding surfaces account for aircraft maneuvering limitations, restricting the required velocities to a feasible set. Further, the relative position between vehicles affects the sliding surfaces shape, enabling collision avoidance. The control method derivation is based on an extended unicycle model, resulting in a controller adequate for fixed wing aircraft.

引用

页码：591 / 596

页数：6

共 16 条

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