Cooperative control for a flight array of UAVs and an application in radar jamming

Date published

2017-10-18

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Elsevier

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Article

ISSN

1474-6670

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Citation

Jang I, Jeong J, Shin H-S, Kim S, Tsourdos A, Suk J, Cooperative control for a flight array of UAVs and an application in radar jamming, IFAC papers online, Vol. 50, Issue 1, July 2017, pp. 8011-8018

Abstract

This paper proposes a flight array system and an integrated approach to cope with its operational issues raised in mission-planning level (i.e., task allocation) and control level (i.e., control allocation). The proposed flight array system consists of multiple ducted-fan UAVs that can assemble with each other to fly together, as well as dissemble themselves to fly individually for accomplishing a given mission. To address the task allocation problem, a game-theoretical framework is developed. This framework enables agents to converge into an agreed task allocation in a decentralised and scalable manner, while guaranteeing a certain level of global optimality. In addition, this paper suggests a cooperative control scheme based on sliding mode control and weighted pseudo-inverse techniques so that the system’s non-linearity and control allocation issue are effectively handled. As a proof-of-concept, a prototype simulation program is developed and validated in a cooperative jamming mission. The numerical simulations manifest the feasibility of effectiveness of the proposed approach.

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Github

Keywords

Cooperative systems, Coordination of multiple vehicle systems, Multi-agent systems, Flying robots, Task allocation, Nonlinear cooperative control

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Attribution-NonCommercial-NoDerivatives 4.0 International

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