Overlapping Decentralized Control of a Formation of Unmanned Aerial Vehicles

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Overlapping Decentralized Control of a Formation
of Unmanned Aerial Vehicles

• Duan M. Stipanovic, Gökhan Inalhan, Rodney Teo,
  Claire J. Tomlin

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Example 1
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V-Formation
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Kinematics Model
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Expansion and Contraction
Static Feedback Laws
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Dynamic Model for the First Platoon in the
Original (Contracted) Space
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Dynamic Model for the First Platoon in the
Expanded (Artificial) Space
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Information Structure Constraints
Modification
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Robust Stabilization of the Fully Decoupled
Subsystems in the Expanded Space
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Hierarchical Design of the Stabilizing Feedback
Gains
First Step Compute
such that the following system is stable
Second Step Compute
to stabilize the following system
Tools Convex Optimization Methods using LMIs
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Example 2
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Unreliable Information Structure Constraints -
Stochastic Stability Analysis
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References

• Decentralized Overlapping Control of a Formation
  of Unmanned Aerial Vehicles, Duan M. Stipanovic,
  Gökhan Inalhan, Rodney Teo, Claire J. Tomlin.
  Submitted, 2002 IEEE Conference on Decision and
  Control.
• Cooperative Spacing Control of Multiple Vehicles
  over a Lossy Datalink, Rodney Teo, Duan M.
  Stipanovic, and Claire J. Tomlin. Submitted, 2002
  Asian Control Conference.
• Decentralized Optimization, with Application to
  Multiple Aircraft Coordination, Gökhan Inalhan,
  Duan M. Stipanovic, and Claire J. Tomlin.
  Submitted, 2002 IEEE Conference on Decision and
  Control.