An approach to cooperative control for formation flight of multiple autonomous helicopters

Takafumi Koishi, Toshiyuki Murakami

Research output: Contribution to conferencePaper

2 Citations (Scopus)

Abstract

Helicopters have many good flight characteristics. Recently, helicopters are used for various situations. However, there are few studies about cooperative control between different scale helicopters. In this paper, an approach to cooperative control between different scale helicopters is proposed to expand the field of application of using helicopters. Leader-following is applied for the control scheme of formation flight to multiple autonomous helicopters. Two helicopters model is discussed as a first step for formation flight of multiple helicopters in this paper. The cooperative control system is based on the weighted pseudo-inverse matrix and null-space. This proposed system is scalable. Therefore the control system can be expanded easily. Additionally, the control input generator is designed with cascade controller. Four control inputs should be generated suitably to control 6-DOF of the helicopter because helicopters are the underactuated robots and there are nonholonomic constrains. The workspace observer are adopted in order to compensate disturbance, parameter uncertainty, interaction of helicopters, influence of the wind, and so on.

Original languageEnglish
Pages1456-1461
Number of pages6
DOIs
Publication statusPublished - 2009 Dec 1
Event35th Annual Conference of the IEEE Industrial Electronics Society, IECON 2009 - Porto, Portugal
Duration: 2009 Nov 32009 Nov 5

Other

Other35th Annual Conference of the IEEE Industrial Electronics Society, IECON 2009
CountryPortugal
CityPorto
Period09/11/309/11/5

Keywords

  • Cascade control
  • Cooperative control
  • Formation flight
  • Multiple autonomous helicopters
  • Null-space control
  • Weighted pseudo-inverse matrix
  • Workspace observer

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

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  • Cite this

    Koishi, T., & Murakami, T. (2009). An approach to cooperative control for formation flight of multiple autonomous helicopters. 1456-1461. Paper presented at 35th Annual Conference of the IEEE Industrial Electronics Society, IECON 2009, Porto, Portugal. https://doi.org/10.1109/IECON.2009.5414722