Abstract
A novel ℒ1 adaptive based control, augmenting a fixed gain Linear Quadratic Regulator (LQR) control for leader-follower based decentralized formation flying is investigated. In particular, we propose this algorithm to maintain the triangle formation of three micro air vehicles. This work assumes minimal critical flight information exchange among the vehicles. The designed formation control algorithm generates normal and tangential acceleration commands which can be accurately tracked by the inner loop of the followers autopilot. The proposed controller having a combination of both adaptive control and a fixed gain control greatly enhances the tracking performance of the controller. To illustrate our algorithm, simulations results using a fixed wing MAV model are presented.
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have