INVESTIGADORES
SCAGLIA Gustavo Juan Eduardo
congresos y reuniones científicas
Título:
Formation Control of Unmanned Aerial Vehicles based on the null-space
Autor/es:
CLAUDIO ROSALES; MARIO SARCINELLI FILHO; GUSTAVO SCAGLIA; RICARDO CARELLI
Lugar:
Orlando
Reunión:
Congreso; International Conference on Unmanned Aircraft Systems (ICUAS); 2014
Institución organizadora:
International Conference on Unmanned Aircraft Systems (ICUAS)
Resumen:
In this paper a new algorithm formation control of
autonomous flight vehicles vehicles is presented based on multiple
control objectives. The strategy includes using the null space of
a Jacobian matrix to achieve different control objectives. The
mission is decomposed in elementary tasks and, for each one of
them, command references are generated for each robot. The
different commands obtained for each task are combined by a
hierarchical method using the projection in the null space, to
cater multiple tasks. The proposed system is scalable, whereby
the control system can be easily expanded. Finally, the stability
analysis of the proposed controllers is performed and simulation
results are shown to verify the good performance of the
controllers.
