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In this paper, a discrete-time method for the formation of high-altitude balloons is developed. The balloons float passively along the Earth's wind currents. For actuation, a balloon can change its altitude to enter a different wind current and move in a different direction. The control objective is to steer a fleet of balloons into a configuration where they are evenly distributed around the Earth...
In this paper, a method for the formation control of high-altitude balloons is developed. This method uses a distributed extremum seeking controller implemented at each balloon. The controller works to minimize a cost function based on the number of users connected to each balloon. This cost function is designed so that the balloons tend to spread themselves out evenly over Earth. The control approach...
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