Group control and string stability for UAV kinematic and dynamic models

Shai Arogeti; Amit Ailon

doi:10.1109/RED-UAS.2017.8101650

Group control and string stability for UAV kinematic and dynamic models

Shai Arogeti, Amit Ailon

Ben-Gurion University of the Negev

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

Abstract

The paper considers control issues in a multi-UAV system as both kinematics and dynamics are intertwined in the mathematical model of the aerial vehicles. To obtain an effective controller for the augmented model of the group members we apply the backstepping procedure. Special attention is given to control a group in a string-like formation and to ensure string stability for reducing the spacing error propagation between vehicles along the string. Finally, demonstrations of the performance and the efficiency of the proposed control algorithms in fulfilling various group tasks, will be presented.

Original language	American English
Title of host publication	2017 Workshop on Research, Education and Development of Unmanned Aerial Systems, RED-UAS 2017
Pages	96-101
Number of pages	6
ISBN (Electronic)	9781538609392
DOIs	https://doi.org/10.1109/RED-UAS.2017.8101650
State	Published - 8 Nov 2017
Event	2017 Workshop on Research, Education and Development of Unmanned Aerial Systems, RED-UAS 2017 - Linkoping, Sweden Duration: 3 Oct 2017 → 5 Oct 2017

Publication series

Name	2017 Workshop on Research, Education and Development of Unmanned Aerial Systems, RED-UAS 2017

Conference

Conference	2017 Workshop on Research, Education and Development of Unmanned Aerial Systems, RED-UAS 2017
Country/Territory	Sweden
City	Linkoping
Period	3/10/17 → 5/10/17

Keywords

Unmanned aerial vehicle
kinematic and dynamic equations
string stability
string-like formation
tracking controller

All Science Journal Classification (ASJC) codes

Artificial Intelligence
Aerospace Engineering
Control and Optimization
Modelling and Simulation
Education

Access to Document

10.1109/RED-UAS.2017.8101650

Cite this

Arogeti, S., & Ailon, A. (2017). Group control and string stability for UAV kinematic and dynamic models. In 2017 Workshop on Research, Education and Development of Unmanned Aerial Systems, RED-UAS 2017 (pp. 96-101). Article 8101650 (2017 Workshop on Research, Education and Development of Unmanned Aerial Systems, RED-UAS 2017). https://doi.org/10.1109/RED-UAS.2017.8101650

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title = "Group control and string stability for UAV kinematic and dynamic models",

abstract = "The paper considers control issues in a multi-UAV system as both kinematics and dynamics are intertwined in the mathematical model of the aerial vehicles. To obtain an effective controller for the augmented model of the group members we apply the backstepping procedure. Special attention is given to control a group in a string-like formation and to ensure string stability for reducing the spacing error propagation between vehicles along the string. Finally, demonstrations of the performance and the efficiency of the proposed control algorithms in fulfilling various group tasks, will be presented.",

keywords = "Unmanned aerial vehicle, kinematic and dynamic equations, string stability, string-like formation, tracking controller",

author = "Shai Arogeti and Amit Ailon",

note = "Publisher Copyright: {\textcopyright} 2017 IEEE.; 2017 Workshop on Research, Education and Development of Unmanned Aerial Systems, RED-UAS 2017 ; Conference date: 03-10-2017 Through 05-10-2017",

year = "2017",

month = nov,

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doi = "10.1109/RED-UAS.2017.8101650",

language = "American English",

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Arogeti, S & Ailon, A 2017, Group control and string stability for UAV kinematic and dynamic models. in 2017 Workshop on Research, Education and Development of Unmanned Aerial Systems, RED-UAS 2017., 8101650, 2017 Workshop on Research, Education and Development of Unmanned Aerial Systems, RED-UAS 2017, pp. 96-101, 2017 Workshop on Research, Education and Development of Unmanned Aerial Systems, RED-UAS 2017, Linkoping, Sweden, 3/10/17. https://doi.org/10.1109/RED-UAS.2017.8101650

Group control and string stability for UAV kinematic and dynamic models. / Arogeti, Shai; Ailon, Amit.
2017 Workshop on Research, Education and Development of Unmanned Aerial Systems, RED-UAS 2017. 2017. p. 96-101 8101650 (2017 Workshop on Research, Education and Development of Unmanned Aerial Systems, RED-UAS 2017).

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

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AU - Ailon, Amit

PY - 2017/11/8

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N2 - The paper considers control issues in a multi-UAV system as both kinematics and dynamics are intertwined in the mathematical model of the aerial vehicles. To obtain an effective controller for the augmented model of the group members we apply the backstepping procedure. Special attention is given to control a group in a string-like formation and to ensure string stability for reducing the spacing error propagation between vehicles along the string. Finally, demonstrations of the performance and the efficiency of the proposed control algorithms in fulfilling various group tasks, will be presented.

AB - The paper considers control issues in a multi-UAV system as both kinematics and dynamics are intertwined in the mathematical model of the aerial vehicles. To obtain an effective controller for the augmented model of the group members we apply the backstepping procedure. Special attention is given to control a group in a string-like formation and to ensure string stability for reducing the spacing error propagation between vehicles along the string. Finally, demonstrations of the performance and the efficiency of the proposed control algorithms in fulfilling various group tasks, will be presented.

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KW - kinematic and dynamic equations

KW - string stability

KW - string-like formation

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M3 - Conference contribution

T3 - 2017 Workshop on Research, Education and Development of Unmanned Aerial Systems, RED-UAS 2017

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BT - 2017 Workshop on Research, Education and Development of Unmanned Aerial Systems, RED-UAS 2017

T2 - 2017 Workshop on Research, Education and Development of Unmanned Aerial Systems, RED-UAS 2017

Y2 - 3 October 2017 through 5 October 2017

ER -

Group control and string stability for UAV kinematic and dynamic models

Abstract

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Conference

Keywords

All Science Journal Classification (ASJC) codes

Access to Document

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