Reference
X. Wang, S. Baldi, X. Feng, C. Wu, H. Xie, and B. De Schutter, "A fixed-wing
UAV formation algorithm based on vector field guidance,"
IEEE
Transactions on Automation Science and Engineering, vol. 20, no. 1, pp.
179-192, Jan. 2023.
Abstract
The vector field method was originally proposed to guide a single fixed-wing
Unmanned Aerial Vehicle (UAV) towards a desired path. In this work, a
non-uniform vector field method is proposed that changes in both magnitude and
direction, for the purpose of achieving formations of UAVs. As compared to
related work in the literature, the proposed formation control law does not
need to assume absence of wind. That is, due to the effect of the wind on the
UAV, one can handle the UAV air speed being different from its ground speed,
and the UAV heading angle being different from its course angle. Stability of
the proposed formation method is analyzed via Lyapunov stability theory, and
validations are carried out in software-in-the-loop and hardware-in-the-loop
comparative experiments.
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BibTeX
@article{WanBal:22-003,
author = {Wang, Ximan and Baldi, Simone and Feng, Xuewei and Wu, Changwei
and Xie, Hongwei and De Schutter, Bart},
title = {A Fixed-Wing {UAV} Formation Algorithm Based on Vector Field
Guidance},
journal = {IEEE Transactions on Automation Science and Engineering},
volume = {20},
number = {1},
pages = {179--192},
month = jan,
year = {2023}
}