Milutinovic, Dejan (University of California at Santa Cruz), Casbeer, David (Air force Research laboratories)

Leader-Follower Formation Feedback Control Composed of Turning Rate and Velocity Controllers

Scheduled for presentation during the Regular Session "Navigation" (FrA1), Friday, September 4, 2020, 09:20−09:40, Macedonia Hall

2020 International Conference on Unmanned Aircraft Systems (ICUAS), September 1-4, 2020 (Postponed from June 9-12, 2020), Athens, Greece

This information is tentative and subject to change. Compiled on April 26, 2024

Abstract

We study the leader-follower feedback formation control, including the feature that the follower can reach and maintain the formation starting from any initial relative position with respect to the leader. The follower uses only observable information, i.e., the distance and bearing angle towards the leader. The formation control is based on a turning rate controller for the follower to track the leader and a velocity controller which uses the bearing angle. The conditions for the tracking performance of the controller are provided and the formation keeping controller is illustrated by numerical simulations.