Formation Control of Small Unmanned Air Vehicles Under Faulty Communications
Takuma Hino, Takeshi Tsuchiya · AIAA Infotech@Aerospace 2010 · 2010
This paper discusses controlling formation of small unmanned air vehicles under faulty communication between formation members. The control scheme proposed in this paper combines virtual leader approach with point-to-multipoint communication, in order to enhance its robustness to communication failures and vehicle losses. Numerical simulation results show that formations will properly converge for a great majority of possible communication networks between vehicles and for communication success rates as low as 10%. Preparations for ground tests and flight tests are currently under way.