Formation backstepping control based on the cooperative dual task-space framework: a case study on unmanned aerial vehicles

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dc.creatorBrenner S. Rego
dc.creatorBruno V. Adorno
dc.creatorGuilherme Vianna Raffo
dc.date.accessioned2025-03-18T15:16:59Z
dc.date.accessioned2025-09-09T00:30:27Z
dc.date.available2025-03-18T15:16:59Z
dc.date.issued2016
dc.identifier.doi10.1109/LARS-SBR.2016.34
dc.identifier.issn2835-8996
dc.identifier.urihttps://hdl.handle.net/1843/80739
dc.languageeng
dc.publisherUniversidade Federal de Minas Gerais
dc.rightsAcesso Restrito
dc.subjectAeronave não tripulada
dc.subjectCinemática
dc.subjectVôo
dc.subject.otherUnmanned Aerial Vehicles
dc.subject.otherBackstepping Control
dc.subject.otherControl Strategy
dc.subject.otherControl Problem
dc.subject.otherStability Control
dc.subject.otherConstant Disturbance
dc.subject.otherOptimal Control
dc.subject.otherWeight Matrix
dc.subject.otherDifference Map
dc.subject.otherRigid Transformation
dc.subject.otherStability Parameters
dc.subject.otherLinear Control
dc.subject.otherInertial Frame
dc.subject.otherHamiltonian Operator
dc.subject.otherSwarm Robotics
dc.subject.otherLyapunov Function Candidate
dc.subject.otherTeam Behavior
dc.titleFormation backstepping control based on the cooperative dual task-space framework: a case study on unmanned aerial vehicles
dc.typeArtigo de evento
local.citation.epage168
local.citation.spage163
local.description.resumoThis paper addresses the leader-follower formation control problem. A backstepping control strategy is proposed based on the formation kinematic model, which is formulated using the cooperative dual-task space framework. A group of tilt-rotor unmanned aerial vehicles (UAVs) is used as case study, in which one UAV performs path tracking while being followed by the others. To accomplish this task, a linear state-feedback D-stable H-infinity controller is designed for each individual based on the UAV's linearized dynamic equations. Simulation results considering constant external disturbances are shown to highlight the effectiveness and robustness of the proposed formation control strategy. Moreover, the proposed strategy is compared with the known task-space inverse dynamics technique.
local.publisher.countryBrasil
local.publisher.departmentENG - DEPARTAMENTO DE ENGENHARIA ELETRÔNICA
local.publisher.initialsUFMG
local.url.externahttps://ieeexplore.ieee.org/document/7783520

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