An analytical and experimental framework addressing formation control of multirotor aircraft with collision avoidance capability is developed and presented. The proposed strategy applies to a formation of cooperating vehicles under the assumption of a broadcast transmission of position data. Starting from the point-mass dynamic model of the single aircraft in the formation, a set of constraints on the vehicles position is introduced and a nonlinear controller based on potential field method is proposed to simultaneously perform trajectory tracking, formation geometry keeping, and collision avoidance. Stability of the closed-loop control system is then proven by means of the Lyapunov method. Results of both numerical simulations and an experimental validation are provided in order to assess the proposed approach in the presence of external disturbances and unmodeled dynamics.
de Angelis, E.L., Giulietti, F., Rossetti, G. (2018). Multirotor aircraft formation flight control with collision avoidance capability. AEROSPACE SCIENCE AND TECHNOLOGY, 77, 733-741 [10.1016/j.ast.2018.04.002].
Multirotor aircraft formation flight control with collision avoidance capability
de Angelis, Emanuele L.Methodology
;Giulietti, FabrizioMethodology
;ROSSETTI, GIANLUCAMethodology
2018
Abstract
An analytical and experimental framework addressing formation control of multirotor aircraft with collision avoidance capability is developed and presented. The proposed strategy applies to a formation of cooperating vehicles under the assumption of a broadcast transmission of position data. Starting from the point-mass dynamic model of the single aircraft in the formation, a set of constraints on the vehicles position is introduced and a nonlinear controller based on potential field method is proposed to simultaneously perform trajectory tracking, formation geometry keeping, and collision avoidance. Stability of the closed-loop control system is then proven by means of the Lyapunov method. Results of both numerical simulations and an experimental validation are provided in order to assess the proposed approach in the presence of external disturbances and unmodeled dynamics.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
