Three Dimensional Formation Flight Control

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Three Dimensional Formation Flight Control

Author : James K. Hall
Publisher :
ISBN 13 : 9781423536178
Total Pages : 94 pages
Book Rating : 4.5/5 (361 download)

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Book Synopsis Three Dimensional Formation Flight Control by : James K. Hall

Download or read book Three Dimensional Formation Flight Control written by James K. Hall and published by . This book was released on 2000-03-01 with total page 94 pages. Available in PDF, EPUB and Kindle. Book excerpt: Automating the control of an aircraft flying in formation necessitates the extension of the theory of formation flight control to allow for three dimensional maneuvers. The formation was modeled as a two-aircraft, leader and wingspan, formation. Both aircraft has its own three dimensional, rotating and translating, Cartesian axes system, with special attention being given to the motion of the leader in relation to the wingspan. The controller operated using the equations of motion expressed in the rotating reference frame of the wing aircraft. The control system has seven states, three inputs and three disturbance signals to model the dynamics of the formation in three dimensional space. The control law employed was the feedback of the difference between in actual separation distance and the commanded separation distance to affect changes in thrust, lift, and roll rate. The control system incorporated proportional, integral, and derivative control elements, each with separate gains, to achieve and maintain the specified formation geometry despite various maneuvers flown by the leader. Simulated maneuvers included: an initial displacement of the wingspan away from the formation geometry, and changes in the leader's velocity, altitude, and heading. For each maneuver, the controller performance was sufficient to maintain the commanded formation geometry.

Flight Formation Control

Author : Josep M. Guerrero
Publisher : John Wiley & Sons
ISBN 13 : 1118563220
Total Pages : 279 pages
Book Rating : 4.1/5 (185 download)

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Book Synopsis Flight Formation Control by : Josep M. Guerrero

Download or read book Flight Formation Control written by Josep M. Guerrero and published by John Wiley & Sons. This book was released on 2012-12-17 with total page 279 pages. Available in PDF, EPUB and Kindle. Book excerpt: In the last decade the development and control of Unmanned Aerial Vehicles (UAVs) has attracted a lot of interest. Both researchers and companies have a growing interest in improving this type of vehicle given their many civilian and military applications. This book presents the state of the art in the area of UAV Flight Formation. The coordination and robust consensus approaches are presented in detail as well as formation flight control strategies which are validated in experimental platforms. It aims at helping students and academics alike to better understand what coordination and flight formation control can make possible. Several novel methods are presented: - controllability and observability of multi-agent systems; - robust consensus; - flight formation control; - stability of formations over noisy networks; which generate solutions of guaranteed performance for UAV Flight Formation. Contents 1. Introduction, J.A. Guerrero. 2. Theoretical Preliminaries, J.A. Guerrero. 3. Multiagent Coordination Strategies, J.A. Guerrero, R. Lozano, M.W. Spong, N. Chopra. 4. Robust Control Design for Multiagent Systems with Parametric Uncertainty, J.A. Guerrero, G. Romero. 5. On Adaptive and Robust Controlled Synchronization of Networked Robotic Systems on Strongly Connected Graphs, Y.-C. Liu, N. Chopra. 6. Modeling and Control of Mini UAV, G. Flores Colunga, J.A. Guerrero, J. Escareño, R. Lozano. 7. Flight Formation Control Strategies for Mini UAVs, J.A. Guerrero. 8. Formation Based on Potential Functions, L. García, A. Dzul. 9. Quadrotor Vision-Based Control, J.E. Gomez-Balderas, J.A. Guerrero, S. SALAZAR, R. Lozano, P. Castillo. 10. Toward Vision-Based Coordination of Quadrotor Platoons, L.R. García Carrillo, J.A. Guerrero, R. Lozano. 11. Optimal Guidance for Rotorcraft Platoon Formation Flying in Wind Fields, J.A. Guerrero, Y. Bestaoui, R. Lozano. 12. Impact of Wireless Medium Access Protocol on the Quadrotor Formation Control, J.A. Guerrero, Y. Challal, P. Castillo. 13. MAC Protocol for Wireless Communications, A. Mendez, M. Panduro, O. Elizarraras, D. Covarrubias. 14. Optimization of a Scannable Pattern for Bidimensional Antenna Arrays to Provide Maximum Performance, A. Reyna, M.A. Panduro, A. Mendez.

2019 Chinese Automation Congress (CAC)

Author : IEEE Staff
Publisher :
ISBN 13 : 9781728140957
Total Pages : pages
Book Rating : 4.1/5 (49 download)

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Book Synopsis 2019 Chinese Automation Congress (CAC) by : IEEE Staff

Download or read book 2019 Chinese Automation Congress (CAC) written by IEEE Staff and published by . This book was released on 2019-11-22 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt: The 2019 Chinese Automation Congress (CAC2019) will provide a platform for all scholars and technicians in automation and intelligent manufacturing from academy and industry to share ideas, and to present the latest scientific and technical advances

Formation Control

Author : Hyo-Sung Ahn
Publisher : Springer
ISBN 13 : 3030151875
Total Pages : 360 pages
Book Rating : 4.0/5 (31 download)

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Book Synopsis Formation Control by : Hyo-Sung Ahn

Download or read book Formation Control written by Hyo-Sung Ahn and published by Springer. This book was released on 2019-03-29 with total page 360 pages. Available in PDF, EPUB and Kindle. Book excerpt: This monograph introduces recent developments in formation control of distributed-agent systems. Eschewing the traditional concern with the dynamic characteristics of individual agents, the book proposes a treatment that studies the formation control problem in terms of interactions among agents including factors such as sensing topology, communication and actuation topologies, and computations. Keeping pace with recent technological advancements in control, communications, sensing and computation that have begun to bring the applications of distributed-systems theory out of the industrial sphere and into that of day-to-day life, this monograph provides distributed control algorithms for a group of agents that may behave together. Unlike traditional control laws that usually require measurements with respect to a global coordinate frame and communications between a centralized operation center and agents, this book provides control laws that require only relative measurements and communications between agents without interaction with a centralized operator. Since the control algorithms presented in this book do not require any global sensing and any information exchanges with a centralized operation center, they can be realized in a fully distributed way, which significantly reduces the operation and implementation costs of a group of agents. Formation Control will give both students and researchers interested in pursuing this field a good grounding on which to base their work.

Robust Formation Control for Multiple Unmanned Aerial Vehicles

Author : Hao Liu
Publisher : CRC Press
ISBN 13 : 1000788504
Total Pages : 145 pages
Book Rating : 4.0/5 (7 download)

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Book Synopsis Robust Formation Control for Multiple Unmanned Aerial Vehicles by : Hao Liu

Download or read book Robust Formation Control for Multiple Unmanned Aerial Vehicles written by Hao Liu and published by CRC Press. This book was released on 2022-12-01 with total page 145 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book is based on the authors’ recent research results on formation control problems, including time-varying formation, communication delays, fault-tolerant formation for multiple UAV systems with highly nonlinear and coupled, parameter uncertainties, and external disturbances. Differentiating from existing works, this book presents a robust optimal formation approach to designing distributed cooperative control laws for a group of UAVs, based on the linear quadratic regulator control method and the robust compensation theory. The proposed control method is composed of two parts: the nominal part to achieve desired tracking performance and the robust compensation part to restrain the influence of highly nonlinear and strongly coupled parameter uncertainties, and external disturbances on the global closed-loop control system. Furthermore, this book gives proof of their robust properties. The influence of communication delays and actuator fault tolerance can be restrained by the proposed robust formation control protocol, and the formation tracking errors can converge into a neighborhood of the origin bounded by a given constant in a finite time. Moreover, the book provides details about the practical application of the proposed method to design formation control systems for multiple quadrotors and tail-sitters. Additional features include a robust control method that is proposed to address the formation control problem for UAVs and theoretical and experimental research for the cooperative flight of the quadrotor UAV group and the tail-sitter UAV group. Robust Formation Control for Multiple Unmanned Aerial Vehicles is suitable for graduate students, researchers, and engineers in the system and control community, especially those engaged in the areas of robust control, UAV swarming, and multi-agent systems.

Development of Formation Flight Control Algorithms Using 3 YF-22 Flying Models

Author :
Publisher :
ISBN 13 :
Total Pages : 223 pages
Book Rating : 4.:/5 (644 download)

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Book Synopsis Development of Formation Flight Control Algorithms Using 3 YF-22 Flying Models by :

Download or read book Development of Formation Flight Control Algorithms Using 3 YF-22 Flying Models written by and published by . This book was released on 2005 with total page 223 pages. Available in PDF, EPUB and Kindle. Book excerpt: The main objective of this project was to provide a flight demonstration of formation control using UAV research aircraft models. This document will describe the efforts leading to the design, construction, and flight testing of formation control laws using three YF-22 research UAVs designed, built, and instrumented at West Virginia University (WVU). In the selected formation configuration, a radio control (R/C) pilot maintains ground control of the 'leader' aircraft while two autonomous 'follower' aircraft are required to maintain a pre-defined position and orientation with respect to the 'leader' aircraft. The report is organized as follows. First, a description of the aircraft test-bed construction and on-board payload systems will be provided. The following sections will describe the overall design of the formation control laws. Specifically, this design was based on a set of inner and outer loop control laws using a NLDI (non Linear Dynamic Inversion) approach. The implementation of the controller design featured a mathematical model obtained directly from flight data through a PID (Parameter Identification) study. Additional sections will provide a description of the on-board flight control software and simulation work prior to the flight testing activities. A final section will describe the results from an extensive flight testing program. The flight testing activities were articulated in several flight testing of 2-aircraft and 3-aircraft formations.

Spacecraft Formation Flying

Author : Kyle Alfriend
Publisher : Elsevier
ISBN 13 : 0080559654
Total Pages : 403 pages
Book Rating : 4.0/5 (85 download)

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Book Synopsis Spacecraft Formation Flying by : Kyle Alfriend

Download or read book Spacecraft Formation Flying written by Kyle Alfriend and published by Elsevier. This book was released on 2009-11-16 with total page 403 pages. Available in PDF, EPUB and Kindle. Book excerpt: Space agencies are now realizing that much of what has previously been achieved using hugely complex and costly single platform projects—large unmanned and manned satellites (including the present International Space Station)—can be replaced by a number of smaller satellites networked together. The key challenge of this approach, namely ensuring the proper formation flying of multiple craft, is the topic of this second volume in Elsevier’s Astrodynamics Series, Spacecraft Formation Flying: Dynamics, control and navigation. In this unique text, authors Alfriend et al. provide a coherent discussion of spacecraft relative motion, both in the unperturbed and perturbed settings, explain the main control approaches for regulating relative satellite dynamics, using both impulsive and continuous maneuvers, and present the main constituents required for relative navigation. The early chapters provide a foundation upon which later discussions are built, making this a complete, standalone offering. Intended for graduate students, professors and academic researchers in the fields of aerospace and mechanical engineering, mathematics, astronomy and astrophysics, Spacecraft Formation Flying is a technical yet accessible, forward-thinking guide to this critical area of astrodynamics. The first book dedicated to spacecraft formation flying, written by leading researchers and professors in the field Develops the theory from an astrodynamical viewpoint, emphasizing modeling, control and navigation of formation flying satellites on Earth orbits Examples used to illustrate the main developments, with a sample simulation of a formation flying mission included to illustrate high fidelity modeling, control and relative navigation

Formation and Containment Control for High-order Linear Swarm Systems

Author : Xiwang Dong
Publisher : Springer
ISBN 13 : 3662478366
Total Pages : 182 pages
Book Rating : 4.6/5 (624 download)

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Book Synopsis Formation and Containment Control for High-order Linear Swarm Systems by : Xiwang Dong

Download or read book Formation and Containment Control for High-order Linear Swarm Systems written by Xiwang Dong and published by Springer. This book was released on 2015-07-18 with total page 182 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book focuses on analysis and design problems for high-order linear time-invariant (LTI) swarm systems (multi-agent systems) to achieve consensus, formation, containment and formation-containment. As a first step, the concepts of practical consensus and formation-containment are introduced. Unlike previous research, the formation in this book can be time-varying. A general framework for consensus, consensus tracking, formation, containment and state formation-containment is presented for the first time. Sufficient/necessary and sufficient conditions, and approaches to designing the protocols for swarm systems to achieve these control objectives, are respectively proposed. Autonomous time-varying formation experiments using five quadrotor unmanned aerial vehicles (UAVs) are conducted in an outdoor setting to demonstrate the theoretical results.

Proceedings of 15th International Conference on Electromechanics and Robotics "Zavalishin's Readings"

Download Proceedings of 15th International Conference on Electromechanics and Robotics

Author : Andrey Ronzhin
Publisher : Springer Nature
ISBN 13 : 981155580X
Total Pages : 553 pages
Book Rating : 4.8/5 (115 download)

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Book Synopsis Proceedings of 15th International Conference on Electromechanics and Robotics "Zavalishin's Readings" by : Andrey Ronzhin

Download or read book Proceedings of 15th International Conference on Electromechanics and Robotics "Zavalishin's Readings" written by Andrey Ronzhin and published by Springer Nature. This book was released on 2020-09-01 with total page 553 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book features selected papers presented at the 15th International Conference on Electromechanics and Robotics “Zavalishin's Readings” – ER(ZR) 2020, held in Ufa, Russia, on 15–18 April 2020. The contributions, written by professionals, researchers and students, cover topics in the field of automatic control systems, electromechanics, electric power engineering and electrical engineering, mechatronics, robotics, automation and vibration technologies. The Zavalishin's Readings conference was established as a tribute to the memory of Dmitry Aleksandrovich Zavalishin (1900–1968) – a Russian scientist, corresponding member of the USSR Academy of Sciences and founder of the school of valve energy converters based on electric machines and valve converters energy. The first conference was organized by the Institute of Innovative Technologies in Electromechanics and Robotics at the Saint Petersburg State University of Aerospace Instrumentation in 2006.

Optimal Formation Flight Control

Author : Shawn B. McCamish
Publisher :
ISBN 13 :
Total Pages : 180 pages
Book Rating : 4.:/5 (339 download)

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Book Synopsis Optimal Formation Flight Control by : Shawn B. McCamish

Download or read book Optimal Formation Flight Control written by Shawn B. McCamish and published by . This book was released on 1995 with total page 180 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Autonomous Flying Robots

Author : Kenzo Nonami
Publisher : Springer Science & Business Media
ISBN 13 : 4431538569
Total Pages : 341 pages
Book Rating : 4.4/5 (315 download)

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Book Synopsis Autonomous Flying Robots by : Kenzo Nonami

Download or read book Autonomous Flying Robots written by Kenzo Nonami and published by Springer Science & Business Media. This book was released on 2010-09-15 with total page 341 pages. Available in PDF, EPUB and Kindle. Book excerpt: The advance in robotics has boosted the application of autonomous vehicles to perform tedious and risky tasks or to be cost-effective substitutes for their - man counterparts. Based on their working environment, a rough classi cation of the autonomous vehicles would include unmanned aerial vehicles (UAVs), - manned ground vehicles (UGVs), autonomous underwater vehicles (AUVs), and autonomous surface vehicles (ASVs). UAVs, UGVs, AUVs, and ASVs are called UVs (unmanned vehicles) nowadays. In recent decades, the development of - manned autonomous vehicles have been of great interest, and different kinds of autonomous vehicles have been studied and developed all over the world. In part- ular, UAVs have many applications in emergency situations; humans often cannot come close to a dangerous natural disaster such as an earthquake, a ood, an active volcano, or a nuclear disaster. Since the development of the rst UAVs, research efforts have been focused on military applications. Recently, however, demand has arisen for UAVs such as aero-robotsand ying robotsthat can be used in emergency situations and in industrial applications. Among the wide variety of UAVs that have been developed, small-scale HUAVs (helicopter-based UAVs) have the ability to take off and land vertically as well as the ability to cruise in ight, but their most importantcapability is hovering. Hoveringat a point enables us to make more eff- tive observations of a target. Furthermore, small-scale HUAVs offer the advantages of low cost and easy operation.

Flight Stability and Automatic Control

Author : Robert C. Nelson
Publisher : WCB/McGraw-Hill
ISBN 13 : 9780071158381
Total Pages : 441 pages
Book Rating : 4.1/5 (583 download)

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Book Synopsis Flight Stability and Automatic Control by : Robert C. Nelson

Download or read book Flight Stability and Automatic Control written by Robert C. Nelson and published by WCB/McGraw-Hill. This book was released on 1998 with total page 441 pages. Available in PDF, EPUB and Kindle. Book excerpt: The second edition of Flight Stability and Automatic Control presents an organized introduction to the useful and relevant topics necessary for a flight stability and controls course. Not only is this text presented at the appropriate mathematical level, it also features standard terminology and nomenclature, along with expanded coverage of classical control theory, autopilot designs, and modern control theory. Through the use of extensive examples, problems, and historical notes, author Robert Nelson develops a concise and vital text for aircraft flight stability and control or flight dynamics courses.

Kinematics of General Spatial Mechanical Systems

Author : M. Kemal Ozgoren
Publisher : John Wiley & Sons
ISBN 13 : 111919573X
Total Pages : 469 pages
Book Rating : 4.1/5 (191 download)

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Book Synopsis Kinematics of General Spatial Mechanical Systems by : M. Kemal Ozgoren

Download or read book Kinematics of General Spatial Mechanical Systems written by M. Kemal Ozgoren and published by John Wiley & Sons. This book was released on 2020-04-27 with total page 469 pages. Available in PDF, EPUB and Kindle. Book excerpt: Guide to kinematic theory for the analysis of spatial mechanisms and manipulators Kinematics of General Spatial Mechanical Systems is an effective and proficient guide to the kinematic description and analysis of the spatial mechanical systems such as serial manipulators, parallel manipulators and spatial mechanisms. The author highlights the analytical and semi-analytical methods for solving the relevant equations and considers four main elements: The mathematics of spatial kinematics with the necessary theorems, formulas and methods; The kinematic description of the links and joints including the rolling contact joints; Writing the kinematic chain and loop equations for the systems to be analyzed; and Solving these equations for the unspecified variables both in the forward and inverse senses together with the multiplicity and singularity analyses. Comprehensive in scope, the book covers topics ranging from rather elementary subjects such as spatial mechanisms with single degree of freedom to more advanced topics such as serial manipulators including redundant and deficient ones, parallel manipulators, and non-holonomic spatial cam mechanisms that involve rolling without slipping motions. The author presents an effective and accessible symbolic manipulation method making it possible to obtain neat and transparent expressions that describe the systems showing all the kinematic details. Such expressions readily lead to analytical or semi-analytical solutions. They also facilitate the identification and analysis of the multiplicities and singularities. This all-time beneficial book: Provides an easy-to-use systematic formulation method that is applicable to all sorts of spatial machanisms and manipulators Introduces a symbolic manipulation method, which is effective and straightforward to use, so that kinematic relationships can be simplified by using all the special geometric features of the system Offers an accessible format that uses a systematic and easy-to-conceive notation which has proven successful Presents content written by an author who is a renowned expert in the field Includes an accompanying website Written for academicians, students, engineers, computer scientists and any other people working in the area of spatial mechanisms and manipulators, Kinematics of General Spatial Mechanical Systems provides a clear notation, formulation, and a logical approach to the topic and offers a fresh presentation of challenging material.

Introduction to Aircraft Flight Mechanics

Author : Thomas R. Yechout
Publisher : AIAA
ISBN 13 : 9781600860782
Total Pages : 666 pages
Book Rating : 4.8/5 (67 download)

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Book Synopsis Introduction to Aircraft Flight Mechanics by : Thomas R. Yechout

Download or read book Introduction to Aircraft Flight Mechanics written by Thomas R. Yechout and published by AIAA. This book was released on 2003 with total page 666 pages. Available in PDF, EPUB and Kindle. Book excerpt: Based on a 15-year successful approach to teaching aircraft flight mechanics at the US Air Force Academy, this text explains the concepts and derivations of equations for aircraft flight mechanics. It covers aircraft performance, static stability, aircraft dynamics stability and feedback control.

Automation of Formation Flight Control

Author :
Publisher :
ISBN 13 :
Total Pages : 192 pages
Book Rating : 4.:/5 (227 download)

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Book Synopsis Automation of Formation Flight Control by :

Download or read book Automation of Formation Flight Control written by and published by . This book was released on 1994 with total page 192 pages. Available in PDF, EPUB and Kindle. Book excerpt: The research contained in this thesis explores the concepts of Automated Formation Flight Control documented in three previous AFIT theses. The generic formation analyzed consists of a Leader and Wingman, with the Wingman referencing its maneuvers off of Leader maneuvers. Specifically, planar formation flight control concerning only heading and velocity changes is considered. Next, the vertical separation constraint is relaxed to allow wing maneuvers outside of the flight plane of the lead in order to minimize the energy expended by the wing in a maneuver. Analysis of the two forms of formation flight control investigated in this thesis reveals the close relationship between formation geometry, aircraft time constants, controller gains, formation performance, and control system stability. Integral control action is determined to be necessary for formation flight control. Nonlinear simulations are accomplished on a digital computer to validate the analysis of the automated formation flight control system. Comparisons are made between the two forms of formation flight control considered, and a third, energy conserving maneuvers, in order to determine which is best for each phase of flight.

Satellite Formation Flying

Author : S. Mathavaraj
Publisher : Springer Nature
ISBN 13 : 981159631X
Total Pages : 154 pages
Book Rating : 4.8/5 (115 download)

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Book Synopsis Satellite Formation Flying by : S. Mathavaraj

Download or read book Satellite Formation Flying written by S. Mathavaraj and published by Springer Nature. This book was released on 2021-04-16 with total page 154 pages. Available in PDF, EPUB and Kindle. Book excerpt: Small satellite technology is opening up a new era in space exploration offering reduced cost of launch and maintenance, operational flexibility with on-orbit reconfiguration, redundancy etc. The true power of such missions can be harnessed only from close and precise formation flying of satellites. Formation flying missions support diverse application areas such as reconnaissance, remote sensing, solar observatory, deep space observatories, etc. A key component involved in formation flying is the guidance algorithm that should account for system nonlinearities and unknown disturbances. The main focus of this book is to present various nonlinear optimal control and adaptive guidance ideas to ensure precise close formation flying in presence of such difficulties. In addition to in-depth discussion of the relevant topics, MATLAB program files for the results included are also provided for the benefit of the readers. Since this book has concise information about the various guidance techniques, it will be useful reference for researchers and practising engineers in the space field.

Advances in Guidance, Navigation and Control

Author : Liang Yan
Publisher : Springer Nature
ISBN 13 : 9811966133
Total Pages : 7455 pages
Book Rating : 4.8/5 (119 download)

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Book Synopsis Advances in Guidance, Navigation and Control by : Liang Yan

Download or read book Advances in Guidance, Navigation and Control written by Liang Yan and published by Springer Nature. This book was released on 2023-02-10 with total page 7455 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book features the latest theoretical results and techniques in the field of guidance, navigation, and control (GNC) of vehicles and aircrafts. It covers a wide range of topics, including but not limited to, intelligent computing communication and control; new methods of navigation, estimation and tracking; control of multiple moving objects; manned and autonomous unmanned systems; guidance, navigation and control of miniature aircraft; and sensor systems for guidance, navigation and control etc. Presenting recent advances in the form of illustrations, tables, and text, it also provides detailed information of a number of the studies, to offer readers insights for their own research. In addition, the book addresses fundamental concepts and studies in the development of GNC, making it a valuable resource for both beginners and researchers wanting to further their understanding of guidance, navigation, and control.