This paper presents a tensegrity-based co-operative control algorithm for an aircraft formation. The 6 degrees-of-freedom model of the well-known Aerosonde unmanned aerial vehicle (UAV), is integrated with the model of the tensegrity structure and a decentralised control scheme is proposed. The strategy is shown to be scalable for 2n number of UAVs and is able to maintain a firm geometry whilst allowing flexible shape transformations. Simulation results demonstrate the effectiveness and stability of the proposed tensegrity-based formation control algorithm in 3D.
|Number of pages||7|
|Publication status||Published - 01 Jul 2015|
|Event||American Control Conference - Chicago, United States|
Duration: 01 Jul 2015 → 03 Jul 2015
|Conference||American Control Conference|
|Period||01/07/2015 → 03/07/2015|