Recovery of UAV Coordination Robustness Lost by Slow Information Update Rates
Richard Wise, Rolf T. Rysdyk · AIAA Guidance, Navigation, and Control Conference and Exhibit · 2007
In this work, two UAVs are tasked to coordinate their position while tracking a moving target in wind. The coordination guidance algorithm relies on communications and therefore variable communication input/output rates and drop outs leads to poor coordination performance. To recover robustness of the coordination guidance algorithm, two observers are used to estimate the remote UAV states between communication updates. The flrst observer is derived based on the analytic relations of a circular orbit about a moving target. The second observer is based on a kinematic aircraft model and also captures applicable dynamics and limits. The results are shown on Hardware-in-the-Loop (HIL) simulations.