27th Congress of International Council of the Aeronautical Sciences, 19 - 24 September 2010, Nice, France
Paper ICAS 2010-6.4.3

DECENTRALIZED CONTROLLER DESIGN FOR FORMATION FLIGHT WITH UAV FAILURE DETECTION LOGIC

J. Seo, Y. Kim, C. G. Park
Seoul National Univ., Korea

Keywords: formation flight, graph, decentralized controller

Consensus-based feedback linearization method is proposed to maintain time-varying configuration for formation of multiple UAV. Control strategy requires only the local information between vehicles, defined by Graph. For the dynamic geometry, each controller can be realized by UAV detection logic so that formation is guaranteed to keep in shape steadily.

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