Coordinated Path Following for Time-Critical Missions of Multiple UAVs via L1 Adaptive Output Feedback Controllers
Author
Kaminer, I.
Yakimenko, O.
Dobrokhodov, V.
Pascoal, A.
Hovakimyan, N.
Cao, C.
Young, A.
Patel, V.
Date
2007-08Metadata
Show full item recordAbstract
This paper develops a complete framework for coordinated control of multiple unmanned
air vehicles (UAVs) that are tasked to execute collision-free maneuvers under strict spatial and temporal constraints in restricted airspace. The framework proposed includes
strategies for deconflicted real-time path generation, nonlinear path following, and multiple vehicle coordination. Path following relies on the augmentation of existing autopilots
with L1 adaptive output feedback control laws to obtain inner-outer loop control structures with guaranteed performance. Multiple vehicle coordination is achieved by enforcing
temporal constraints on the speed pro les of the vehicles along their paths in response to
information exchanged over a communication network. Again, L1 adaptive control is used
to yield an inner-outer loop structure for vehicle coordination.
A rigorous proof of stability and performance bounds of the combined path following
and coordination strategies is given. Flight test results obtained at Camp Roberts, CA in
2007 demonstrate the benefits of using L1 adaptive control for path following of a single
vehicle. Hardware-in-the-loop simulations for two vehicles are discussed and provide a
proof of concept for time-critical coordination of multiple vehicles over communication
networks with fixed topologies.
Rights
This publication is a work of the U.S. Government as defined in Title 17, United States Code, Section 101. Copyright protection is not available for this work in the United States.Collections
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