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This work addresses a coordinate control scheme for a helicopter and a formation of ground robots, based on artificial vision. First, a control scheme previously proposed is implemented to guide a formation of three ground mobile robots while they track a desired trajectory. In the sequel, a nonlinear controller based on the inverse dynamics of the aerial vehicle, focusing on its under actuated character,...
In this paper, we consider the synchronized altitude tracking control for multiple helicopters, when the desired trajectory is only available to the leaders. By using the weighted average of the neighbors' states as the reference signal, the adaptive neural network (NN) tracking control is designed for each helicopter. It is shown that, the output tracking error of each helicopter converges to an...
We consider the problem of formation flight for a set of unmanned air vehicles (UAV) in a possible obstacle laden environment. A novel decentralized control design procedure is developed which guarantees collision and obstacle avoidance. The control design is based on a modified virtual leader-follower structure and a simple consensus protocol. Vehicle collision and obstacle avoidance is ensured by...
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