Abstract
The paper presents a new three-dimensional formation flight control algorithm for fixed-wing unmanned aerial vehicles (UAVs) based on non-uniform guidance vector field. Consensus-based model of living organisms' motor neurons network was used for generalized law of UAVs interaction. A non-uniform vector field is constructed for obtaining desired velocities and course angles in order to take into account the nonlinear structure of the “low-level autopilot/UAV” system. The stability analysis with Lyapunov direct method shows that relative distance errors for each UAV approach zero asymptotically. Then, model reference self-tuning fuzzy PD-control was used in order to ensure the desired quality of transient trajectories in the case when one or more vehicles' dynamics is significantly different from those vehicles' dynamics for which the coefficients in the group control algorithm were selected. The adaptive loop stability is provided with fuzzy Lyapunov synthesis. The overall control system performance was tested in MATLAB/Simulink using full dynamic of the low-level autopilot/UAV nonlinear models.
Sign-in/Register to access full text options 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
