Home | Aims & Scope | Editorial Board | Information for Authors | Review Flowchart | Call for Papers ADP | Download | Online Subscription | Chinese Journal 
Design and implementation of a leader-follower cooperative control system for unmanned helicopters
Received:September 7,2009  Revised:September 9,2009
Keywords:Unmanned Aerial Vehicles  Cooperative Control  Flight Formation  Collision Avoidance
Fund Project:
Ben YUN National University of Singapore  
Ben M CHEN National University of Singapore bmchen@nus.edu.sg 
Kai Yew LUM National University of Singapore  
Tong H. LEE National University of Singapore  
Hits:  46
Download times:  2
      In this paper, we present a full scheme for the cooperative control of multiple unmanned aerial vehicle (UAV) helicopters. We adopt the leader-follower pattern to maintain a fixed geometrical formation while navigating the UAVs following certain trajectories. More specifically, the leader is commanded to fly on some predefined trajectories, and each follower is controlled to maintain its position in formation using the measurement of its inertial position and the information of the leader position and velocity, obtained through a wireless modem. More specifications are made for multiple UAV formation flight. In order to avoid possible collisions of UAV helicopters in the actual formation flight test, a collision avoidance scheme based on some predefined alert zones and protected zones is employed. Simulations and experimental results are presented to verify our design.
Ben YUN,Ben M. CHEN,Kai Yew LUM and Tong H. LEE.Design and implementation of a leader-follower cooperative control system for unmanned helicopters[J].Journal of Control Theory and Applications,2010,8(1):61~68.
View Fulltext  View/Add Comment  Download reader
          You are guest number 113716.

Sponsored by:South China University of Technology & Academy of Mathematics and Systems Science, CAS      Address:Wushan 381,Guangzhou,P.R.China

Tel:020-87111464   Fax:020-87111464    Postcode:510640    Email: aukzllyy@scut.edu.cn

    Designed by Beijing E-Tiller Co.,Ltd.