Co-operative tensegrity-based formation control algorithm for a multi-aircraft system

Sook Lau; Wasif Naeem

doi:10.1109/ACC.2015.7170824

Co-operative tensegrity-based formation control algorithm for a multi-aircraft system

Sook Lau, Wasif Naeem

Research output: Contribution to conference › Paper › peer-review

11 Citations (Scopus)

Abstract

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.

Original language	English
Pages	750-756
Number of pages	7
DOIs	https://doi.org/10.1109/ACC.2015.7170824
Publication status	Published - 01 Jul 2015
Event	American Control Conference - Chicago, United States Duration: 01 Jul 2015 → 03 Jul 2015

Conference

Conference	American Control Conference
Country/Territory	United States
City	Chicago
Period	01/07/2015 → 03/07/2015

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10.1109/ACC.2015.7170824

http://ieeexplore.ieee.org/xpl/login.jsp?tp=&arnumber=7170824&url=http%3A%2F%2Fieeexplore.ieee.org%2Fxpls%2Fabs_all.jsp%3Farnumber%3D7170824

Cite this

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abstract = "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.",

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AB - 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.

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Co-operative tensegrity-based formation control algorithm for a multi-aircraft system

Abstract

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