Multi-UAV Formation Based on Feedback Linearization Technique Using Range-Only Measurement

거리 정보를 이용한 되먹음 선형화 기법 무인기 편대 비행제어

  • 김성환 (인하대학교 항공우주공학과) ;
  • 유창경 (인하대학교 항공우주공학과) ;
  • 박춘배 (인하대학교 항공우주공학과)
  • Published : 2009.01.01


This paper addresses how to make a formation of multiple unmanned aerial vehicles (UAVs) using only the relative range information. Since the relative range can easily be measured by an on-board range sensor like the laser range finder, the proposed method does not require any expensive and heavy wireless communication system to share the navigation information of each vehicle. Based on the two-dimensional (2-D) nonlinear equations of motion, we propose a nonlinear formation controller using the typical input-output feedback linearization method. The performance of the proposed formation controller is verified by various numerical simulations.


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