Decentralized Formation flying Control Method for Autonomous Multi UAV
Conference: ICMLCA 2021 - 2nd International Conference on Machine Learning and Computer Application
12/17/2021 - 12/19/2021 at Shenyang, China
Proceedings: ICMLCA 2021
Pages: 5Language: englishTyp: PDF
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Authors:
Yang, Jin; Liu, Shuangjie (Equipment Engineering College, Shenyang Ligong University, Shenyang, China)
Hao, Yongping; You, Deyi (Mechanical Engineering College, Shenyang Ligong University, Shenyang, China)
Abstract:
The formation flying control strategy of multiple UAVs is designed and verified from the view of decentralized control. The set of UAV expected positions is used to describe the given formation geometry. According to the characteristics of UAV and the requirements of formation flying, a decentralized control strategy of formation flying based on "And gate" expected position judgment controller is proposed. The control strategy consists of two parts, one for speed and arrival task synchronization, the other for formation and formation switching. The simulation results show that the decentralized control strategy of formation flying is feasible.