An open benchmark for distributed formation flight control of Fixed-Wing Unmanned Aircraft Systems - Archive ouverte HAL
Article Dans Une Revue IFAC-PapersOnLine Année : 2018

An open benchmark for distributed formation flight control of Fixed-Wing Unmanned Aircraft Systems

Résumé

The capability of autonomous formation flight has the potential to significantly enhance the utility and efficiency of small low-cost Unmanned Aerial Systems (UAS). Formations of small, inexpensive fixed-wing UAS allow for the sharing of remote sensing functionality, mission-level redundancy and range enhancements due to aerodynamic interactions widely exploited by migratory birds. This article presents a benchmark problem for scalable distributed flight control of formations of UAS with only local relative state information, one of the open problems in this field as of today. The benchmark is openly available and comprises a nonlinear six degrees of freedom dynamics model of an electric glider UAS. In this article we furthermore introduce a nominal guidance frame that does not require state information of other UAS and point out a fundamental issue related to wake vortex tracking during formation maneuvers. A set of LQ baseline controllers that are part of the benchmark is presented along with simulation results.
Fichier principal
Vignette du fichier
DTIS18148.1529310420_postprint.pdf (1.31 Mo) Télécharger le fichier
Origine Fichiers produits par l'(les) auteur(s)
Loading...

Dates et versions

hal-01831740 , version 1 (06-07-2018)

Identifiants

Citer

Jan Bolting, Martin Stolle, Soheib Fergani, Jean-Marc Biannic, François Defaӱ. An open benchmark for distributed formation flight control of Fixed-Wing Unmanned Aircraft Systems. IFAC-PapersOnLine, 2018, 50 (1), pp.10256 - 10261. ⟨10.1016/j.ifacol.2017.08.1471⟩. ⟨hal-01831740⟩
101 Consultations
72 Téléchargements

Altmetric

Partager

More