《Control of leader-follower formations of terrestrial UAVs》.pdf

Proceedingsof the 42nd IEEE Conference on Decision and Control Maui, Hawaii USA, December 2003 TuMOI -2 Control of leader-follower formations of terrestrial UAVs Xingping Chent, Andrea Serrani, Hitay Ozbay Dept. of Electrical Engineering The Ohio State University 2015 Neil Ave. Columbus, OH 43210, USA {chenxi, serrani, ozbay}@ee.eng.ohio-state.edu Abstract-In this paper, we present a method for design- controlling the plant by means of the unique input corre- ing a decentralized control architecture, distributed among sponding to the desired behavior of the output variables to autonomous agents, to achieve a leader/follower formation of be controlled, are not applicable, for the reference trajectory terrestrial UAVs. Each control unit employs only local sensor information to acquire data on the relative position and velocity (i.e. the absolute motion of the formation leader) is not so as to reduce sensitivity with respect to the information flow available as such. In this paper, we approach a formation among agents. Each controller is designed on the basis of a control problem from the point of view of the internal model dynamic model of the relative motion between followers and a paradigm. This approach does not rely upon the adaptation designated leader. The use of the internal model paradigm as a to the unknown plant parameters of a control law ba