TY - GEN
T1 - Time-critical coordinated path following for multiple UAVs via L1 adaptive output feedback controllers
AU - Kaminer, Isaac
AU - Hovakimyan, Naira
AU - Patel, Vijay
AU - Cao, Chengyu
AU - Young, Amanda
AU - Pascoal, Antonio
AU - Dobrokhodov, Vladimir
N1 - Publisher Copyright:
© 2007 EUCA.
PY - 2007
Y1 - 2007
N2 - 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.
AB - 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.
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M3 - Conference contribution
AN - SCOPUS:84927722988
T3 - 2007 European Control Conference, ECC 2007
SP - 281
EP - 286
BT - 2007 European Control Conference, ECC 2007
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2007 9th European Control Conference, ECC 2007
Y2 - 2 July 2007 through 5 July 2007
ER -