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This paper presents a guidance algorithm for formation flight of two UAVs. Since the nonlinear guidance algorithm have good properties to follow nonlinear flight trajectory based on geometric and kinematic, the nonlinear guidance algorithm is modified as a leader-follower station keeping formation control law for two UAVs using the relation of the nonlinear guidance algorithm to the proportional navigation...
This paper considers the problem of relative motion control for spacecraft formation flying (SFF). Using terminal sliding mode technique, a relative position/velocity tracking control based on the nonlinear model is developed. The presented controller enables rapid formation reconfiguration with feasible fuel cost and strong robustness in the presence of uncertain but bounded disturbances. A nonlinear...
In this paper, virtual structure and artificial potential field (APF) based strategies are integrated to realize formation tracking control for a team of unicycles with collision avoidance property. Using virtual structure, each vehicle is required to track a virtual local leader (VLL) for formation maintenance. For inter-vehicle collision avoidance, the motion of each vehicle is restricted in a specified...
An adaptive control approach is proposed to deal with the multi-manipulator leader-follower control based on the multi-agent theory. In the current multi-agent literature, agents are assumed to have determined linear models. However, the real manipulatorpsilas dynamics is highly nonlinear and contains uncertain parameters. According to the ldquoinearity-in-parametersrdquo property, the adaptive updating...
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