Time-critical coordinated path following for multiple UAVs via L1 adaptive output feedback controllers

Isaac Kaminer, Naira Hovakimyan, Vijay Patel, Chengyu Cao, Amanda Young, Antonio Pascoal, Vladimir Dobrokhodov

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

This paper develops a complete framework for coordinated control of multiple unmanned air vehicles (UAVs) that are tasked to execute collision-free maneuvers under strict spatial and temporal constraints. For coordination of the fleet of vehicles, the temporal constraints are enforced by adjusting the speed profile of the vehicles along the feasible paths. Augmentation of the existing autopilots with L1 adaptive controller ensures accurate path tracking with desired specifications. The paper shows flight test results performed in Camp Roberts, CA, in February of 2007, and hardware-in-the-loop experimental results.

Original languageEnglish (US)
Title of host publication2007 European Control Conference, ECC 2007
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages281-286
Number of pages6
ISBN (Electronic)9783952417386
StatePublished - Jan 1 2007
Externally publishedYes
Event2007 9th European Control Conference, ECC 2007 - Kos, Greece
Duration: Jul 2 2007Jul 5 2007

Publication series

Name2007 European Control Conference, ECC 2007

Other

Other2007 9th European Control Conference, ECC 2007
CountryGreece
CityKos
Period7/2/077/5/07

ASJC Scopus subject areas

  • Control and Systems Engineering

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    Kaminer, I., Hovakimyan, N., Patel, V., Cao, C., Young, A., Pascoal, A., & Dobrokhodov, V. (2007). Time-critical coordinated path following for multiple UAVs via L1 adaptive output feedback controllers. In 2007 European Control Conference, ECC 2007 (pp. 281-286). [7068931] (2007 European Control Conference, ECC 2007). Institute of Electrical and Electronics Engineers Inc..