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

Show simple item record Jang, Inmo Jeong, Junho Shin, Hyo-Sang Kim, Seungkeun Tsourdos, Antonios Suk, Jinyoung 2017-11-07T16:21:21Z 2017-11-07T16:21:21Z 2017-10-18
dc.identifier.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 en_UK
dc.identifier.issn 1474-6670
dc.description.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. en_UK
dc.language.iso en en_UK
dc.publisher Elsevier en_UK
dc.rights Attribution-NonCommercial-NoDerivatives 4.0 International
dc.subject Cooperative systems en_UK
dc.subject Coordination of multiple vehicle systems en_UK
dc.subject Multi-agent systems en_UK
dc.subject Flying robots en_UK
dc.subject Task allocation en_UK
dc.subject Nonlinear cooperative control en_UK
dc.title Cooperative control for a flight array of UAVs and an application in radar jamming en_UK
dc.type Article en_UK

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