Formation flight using multiple integral backstepping controllers

Alon Davidi; Nadav Berman; Shai Arogeti

doi:10.1109/ICCIS.2011.6070348

Formation flight using multiple integral backstepping controllers

Alon Davidi, Nadav Berman, Shai Arogeti

Department of Mechanical Engineering

Ben-Gurion University of the Negev

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

Abstract

In this paper, a new approach for the formation control of a group of UAVs is presented. The proposed method is based on a combination of multiple Integral Backstepping (IB) controllers. The paper considers a group of quadrotor UAVs, each having an identical nonlinear dynamics. The stability of the formation flight is shown using the Lyapunov approach. The main contribution of the paper stems from the proposed combination of individual controllers, where each individual controller satisfies a reference configuration between two UAVs. The combination of all individual controllers provides the total force and moments required, in each UAV, for the stability of the formation.

Original language	American English
Title of host publication	Proceedings of the 2011 IEEE 5th International Conference on Cybernetics and Intelligent Systems, CIS 2011
Pages	317-322
Number of pages	6
DOIs	https://doi.org/10.1109/ICCIS.2011.6070348
State	Published - 9 Dec 2011
Event	2011 IEEE 5th International Conference on Cybernetics and Intelligent Systems, CIS 2011 - Qingdao, China Duration: 17 Sep 2011 → 19 Sep 2011

Publication series

Name	Proceedings of the 2011 IEEE 5th International Conference on Cybernetics and Intelligent Systems, CIS 2011

Conference

Conference	2011 IEEE 5th International Conference on Cybernetics and Intelligent Systems, CIS 2011
Country/Territory	China
City	Qingdao
Period	17/09/11 → 19/09/11

Keywords

Integral backstepping control
formation flight
quadrotor
virtual leader

All Science Journal Classification (ASJC) codes

Artificial Intelligence
Computer Networks and Communications
Information Systems

Access to Document

10.1109/ICCIS.2011.6070348

Cite this

Davidi, A., Berman, N., & Arogeti, S. (2011). Formation flight using multiple integral backstepping controllers. In Proceedings of the 2011 IEEE 5th International Conference on Cybernetics and Intelligent Systems, CIS 2011 (pp. 317-322). (Proceedings of the 2011 IEEE 5th International Conference on Cybernetics and Intelligent Systems, CIS 2011). https://doi.org/10.1109/ICCIS.2011.6070348

@inproceedings{e3d3cdb6be034f2ea5a167b9a86a38e0,

title = "Formation flight using multiple integral backstepping controllers",

abstract = "In this paper, a new approach for the formation control of a group of UAVs is presented. The proposed method is based on a combination of multiple Integral Backstepping (IB) controllers. The paper considers a group of quadrotor UAVs, each having an identical nonlinear dynamics. The stability of the formation flight is shown using the Lyapunov approach. The main contribution of the paper stems from the proposed combination of individual controllers, where each individual controller satisfies a reference configuration between two UAVs. The combination of all individual controllers provides the total force and moments required, in each UAV, for the stability of the formation.",

keywords = "Integral backstepping control, formation flight, quadrotor, virtual leader",

author = "Alon Davidi and Nadav Berman and Shai Arogeti",

year = "2011",

month = dec,

day = "9",

doi = "10.1109/ICCIS.2011.6070348",

language = "American English",

isbn = "9781612841984",

series = "Proceedings of the 2011 IEEE 5th International Conference on Cybernetics and Intelligent Systems, CIS 2011",

pages = "317--322",

booktitle = "Proceedings of the 2011 IEEE 5th International Conference on Cybernetics and Intelligent Systems, CIS 2011",

note = "2011 IEEE 5th International Conference on Cybernetics and Intelligent Systems, CIS 2011 ; Conference date: 17-09-2011 Through 19-09-2011",

}

Davidi, A, Berman, N & Arogeti, S 2011, Formation flight using multiple integral backstepping controllers. in Proceedings of the 2011 IEEE 5th International Conference on Cybernetics and Intelligent Systems, CIS 2011. Proceedings of the 2011 IEEE 5th International Conference on Cybernetics and Intelligent Systems, CIS 2011, pp. 317-322, 2011 IEEE 5th International Conference on Cybernetics and Intelligent Systems, CIS 2011, Qingdao, China, 17/09/11. https://doi.org/10.1109/ICCIS.2011.6070348

Formation flight using multiple integral backstepping controllers. / Davidi, Alon; Berman, Nadav; Arogeti, Shai.
Proceedings of the 2011 IEEE 5th International Conference on Cybernetics and Intelligent Systems, CIS 2011. 2011. p. 317-322 (Proceedings of the 2011 IEEE 5th International Conference on Cybernetics and Intelligent Systems, CIS 2011).

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

TY - GEN

T1 - Formation flight using multiple integral backstepping controllers

AU - Davidi, Alon

AU - Berman, Nadav

AU - Arogeti, Shai

PY - 2011/12/9

Y1 - 2011/12/9

N2 - In this paper, a new approach for the formation control of a group of UAVs is presented. The proposed method is based on a combination of multiple Integral Backstepping (IB) controllers. The paper considers a group of quadrotor UAVs, each having an identical nonlinear dynamics. The stability of the formation flight is shown using the Lyapunov approach. The main contribution of the paper stems from the proposed combination of individual controllers, where each individual controller satisfies a reference configuration between two UAVs. The combination of all individual controllers provides the total force and moments required, in each UAV, for the stability of the formation.

AB - In this paper, a new approach for the formation control of a group of UAVs is presented. The proposed method is based on a combination of multiple Integral Backstepping (IB) controllers. The paper considers a group of quadrotor UAVs, each having an identical nonlinear dynamics. The stability of the formation flight is shown using the Lyapunov approach. The main contribution of the paper stems from the proposed combination of individual controllers, where each individual controller satisfies a reference configuration between two UAVs. The combination of all individual controllers provides the total force and moments required, in each UAV, for the stability of the formation.

KW - Integral backstepping control

KW - formation flight

KW - quadrotor

KW - virtual leader

UR - http://www.scopus.com/inward/record.url?scp=82855167301&partnerID=8YFLogxK

U2 - 10.1109/ICCIS.2011.6070348

DO - 10.1109/ICCIS.2011.6070348

M3 - Conference contribution

SN - 9781612841984

T3 - Proceedings of the 2011 IEEE 5th International Conference on Cybernetics and Intelligent Systems, CIS 2011

SP - 317

EP - 322

BT - Proceedings of the 2011 IEEE 5th International Conference on Cybernetics and Intelligent Systems, CIS 2011

T2 - 2011 IEEE 5th International Conference on Cybernetics and Intelligent Systems, CIS 2011

Y2 - 17 September 2011 through 19 September 2011

ER -

Formation flight using multiple integral backstepping controllers

Abstract

Publication series

Conference

Keywords

All Science Journal Classification (ASJC) codes

Access to Document

Other files and links

Fingerprint

Cite this