Accession Number:

ADA592848

Title:

Cooperative Target-capturing with Incomplete Target Information

Descriptive Note:

Journal article

Corporate Author:

AIR FORCE ACADEMY COLORADO SPRINGS CO DEPT OF ELECTRICAL AND COMPUTER ENGINEERING

Report Date:

2013-01-01

Pagination or Media Count:

15.0

Abstract:

This paper presents a distributed target-centric formation control strategy for multiple unmanned aerial vehicles UAVs in the presence of target motion uncertainty. The formation is maintained around a target using a combination of a consensus protocol and a sliding mode control law. Consensus helps in distributing the target information which is available only to a subset of vehicles. Sliding mode control compensates for the uncertainty in the target information. Hence, collectively the combined strategy enforces each of the vehicle to maintain respective position in a formation. We show that if at least one vehicle in a group has target information with some uncertainty and the corresponding communication graph is connected, then a target-centric formation can be maintained. The performance of the proposed strategy is verified through simulations.

Subject Categories:

  • Pilotless Aircraft
  • Flight Control and Instrumentation

Distribution Statement:

APPROVED FOR PUBLIC RELEASE