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Title: Cooperative moving path following for multiple fixed-wing unmanned aerial vehicles with speed constraints
Authors: Wang, Yuanzhe
Wang, Danwei
Zhu, Senqiang
Keywords: Cooperative Control
DRNTU::Engineering::Electrical and electronic engineering
Path Following
Issue Date: 2019
Source: Wang, Y., Wang, D., & Zhu, S. (2019). Cooperative moving path following for multiple fixed-wing unmanned aerial vehicles with speed constraints. Automatica, 10082-89. doi:10.1016/j.automatica.2018.11.004
Series/Report no.: Automatica
Abstract: This paper is to address a cooperative moving path following (CMPF) problem, in which a fleet of fixedwing unmanned aerial vehicles (UAVs) are required to converge to and follow a desired geometric moving path while satisfying prespecified speed and spatial constraints. A representative application of the CMPF problem is the challenging mission scenario where a group of UAVs are tasked to track a moving ground target. The proposed methodology is based on the insight that a vehicle can follow a given path only through attitude control, thus leaving its speed as an extra input to be used at the coordination level. To deal with moving path following (MPF) of a single UAV, a non-singular control law is derived to steer the vehicle along the desired moving path which avoids the singularity problem in the previous MPF strategy. For multi-UAV coordination, a pursuit strategy is employed with the introduction of a virtual leader. To account for speed constraints and collision avoidance, conditions are derived under which the combined MPF and multi-UAV coordination closed-loop system is asymptotically stable while speed and spatial constraints are satisfied. Further simulation has been performed to demonstrate the effectiveness of the proposed method.
ISSN: 0005-1098
DOI: 10.1016/j.automatica.2018.11.004
Rights: © 2019 Elsevier. All rights reserved. This paper was published in Automatica and is made available with permission of Elsevier.
Fulltext Permission: open
Fulltext Availability: With Fulltext
Appears in Collections:EEE Journal Articles

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