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Decentralised Formation Control of Unmanned Aerial Vehicles Using Virtual Leaders

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Book cover Autonomous Control Systems and Vehicles

Part of the book series: Intelligent Systems, Control and Automation: Science and Engineering ((ISCA,volume 65))

Abstract

In this chapter, a simple but robust formation control scheme for unmanned aerial vehicles is proposed. The proposed scheme is based on the virtual leader approach. Mathematical proof is provided to show that the scheme allows formations to converge, as long as sufficient communications between formation members take place. Monte Carlo tests showed that the proposed scheme allows formations with 95% of the possible communication networks to converge. Also, numerical simulations showed that proposed scheme allows formations to converge even if only 10% of the total communication succeeds.

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Author information

Authors and Affiliations

  1. School of Engineering, The University of Tokyo, Tokyo, 113-8656, Japan

    Takuma Hino & Takeshi Tsuchiya

Authors
  1. Takuma Hino
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  2. Takeshi Tsuchiya
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Corresponding author

Correspondence to Takuma Hino .

Editor information

Editors and Affiliations

  1. , Graduate School & Fuclty of Engineering, Chiba University, Yavoi-cho 1-33, Chiba, 263-0022, Japan

    Kenzo Nonami

  2. , Center for Unmanned System Studies, Institute of Technology Bandung, Jl. Ganesha 10,, Bandung, 40132, Indonesia

    Muljowidodo Kartidjo

  3. , Dept of Aerospace Information Eng, Konkuk University, 1 Hwayang-dong, Seoul, 143-701, Korea, Republic of (South Korea)

    Kwang-Joon Yoon

  4. Dept. Aerospace & Information Engin., Smart Robot Center, Konkuk University, Hwayang-dong 1, Seoul, 143-701, Korea, Republic of (South Korea)

    Agus Budiyono

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Hino, T., Tsuchiya, T. (2013). Decentralised Formation Control of Unmanned Aerial Vehicles Using Virtual Leaders. In: Nonami, K., Kartidjo, M., Yoon, KJ., Budiyono, A. (eds) Autonomous Control Systems and Vehicles. Intelligent Systems, Control and Automation: Science and Engineering, vol 65. Springer, Tokyo. https://doi.org/10.1007/978-4-431-54276-6_9

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  • DOI: https://doi.org/10.1007/978-4-431-54276-6_9

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  • Publisher Name: Springer, Tokyo

  • Print ISBN: 978-4-431-54275-9

  • Online ISBN: 978-4-431-54276-6

  • eBook Packages: EngineeringEngineering (R0)

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