C.-K. Ryoo, Y.-H. Kim, and M.-J. Tahk (Korea)
Unmanned aerial vehicle, formation, optimal guidance
In this paper, an optimal feedback control law for multiple vehicles formation flight is addressed. The proposed law is obtained as a solution of a linear quadratic optimal control problem to minimize the time varying energy cost with terminal constraints on position and velocity. Since the proposed law is able to control the flight time, it is possible to make all vehicles join the formation concurrently at a specified time. Performance of the proposed law combined with air-to-air collision avoidance is tested via numerical simulations for various formation shapes.
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