This paper studies the three-dimensional elastic formation control problem of multiple unmanned aerial vehicles (Multi-UAVs). To make the formation geometric shapes adapt to the flight velocity, three-dimensional elastic distance vector are proposed. The terminal formation shapes can be set with the vector about desired look-ahead point. On this basis, the follower vehicles' motion equations are put forward. Moreover, the formation reconfiguration is modeled as a fuel optimal control problem, which is transformed into a nonlinear programming problem by Chebyshev pseudospectral method. Numerical simulations indicate the proposed elastic formation reconfiguration algorithm is effective, robust and flexible.


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    Title :

    Three-dimensional optimal formation reconfiguration for Multi-UAVs based on Chebyshev pseudospectral method


    Contributors:
    Hongmei Zhang (author) / Guoli Zhao (author) / Guangyan Xu (author)


    Publication date :

    2016-08-01


    Size :

    326757 byte




    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English




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