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

Sook Lau, Wasif Naeem

Research output: Contribution to conferencePaperpeer-review

7 Citations (Scopus)


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 languageEnglish
Number of pages7
Publication statusPublished - 01 Jul 2015
EventAmerican Control Conference - Chicago, United States
Duration: 01 Jul 201503 Jul 2015


ConferenceAmerican Control Conference
Country/TerritoryUnited States


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