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DTIC ADA592848: Cooperative Target-capturing with Incomplete Target... |
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by Defense Technical Information Center |
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This paper presents a distributed target-centric |
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formation control strategy for multiple unmanned aerial |
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vehicles (UAVs) in the presence of target motion |
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uncertainty. The formation is maintained around a target |
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using a combination of a consensus protocol and a sliding |
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mode control law. Consensus helps in distributing the |
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target information which is available only to a subset of |
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vehicles. Sliding mode control compensates for the |
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uncertainty in the target information. Hence, |
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collectively the combined strategy enforces each of the |
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vehicle to maintain respective position in a formation. |
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We show that if at least one vehicle in a group has |
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target information with some uncertainty and the |
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corresponding communication graph is connected, then a |
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target-centric formation can be maintained. The |
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performance of the proposed strategy is verified through |
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simulations. |
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Date Published: 2018-09-17 06:20:27 |
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Identifier: DTIC_ADA592848 |
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Item Size: 8702495 |
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Language: english |
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Media Type: texts |
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# Topics |
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DTIC Archive; ; AIR FORCE ACADEMY COL... |
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# Uploaded by |
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@chris85 |
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