Robust and synchronous nonlinear controller for autonomous formation flight of fixed wing UASs

Cordeiro, Thiago Felippe Kurudez; Ferreira, Henrique Cezar; Ishihara, João Yoshiyuki

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Campo DC	Valor	Idioma
dc.contributor.author	Cordeiro, Thiago Felippe Kurudez	-
dc.contributor.author	Ferreira, Henrique Cezar	-
dc.contributor.author	Ishihara, João Yoshiyuki	-
dc.date.accessioned	2024-02-07T11:10:42Z	-
dc.date.available	2024-02-07T11:10:42Z	-
dc.date.issued	2019	-
dc.identifier.citation	CORDEIRO, Thiago Felippe Kurudez; FERREIRA, Henrique Cezar; ISHIHARA, João Yoshiyuki. Robust and synchronous nonlinear controller for autonomous formation flight of fixed wing UASs. In: 2019 INTERNATIONAL CONFERENCE ON UNMANNED AIRCRAFT SYSTEMS (ICUAS), 2019, Atlanta, EUA. Proceedings [...]. [S. l.]: IEEE, 2019. DOI: 10.1109/ICUAS.2019.8798246.	pt_BR
dc.identifier.uri	http://repositorio2.unb.br/jspui/handle/10482/47700	-
dc.language.iso	eng	pt_BR
dc.publisher	IEEE	pt_BR
dc.rights	Acesso Restrito	pt_BR
dc.title	Robust and synchronous nonlinear controller for autonomous formation flight of fixed wing UASs	pt_BR
dc.type	Trabalho apresentado em evento	pt_BR
dc.subject.keyword	Controlador para voo	pt_BR
dc.subject.keyword	Veículos aéreos não tripulados	pt_BR
dc.identifier.doi	10.1109/ICUAS.2019.8798246	pt_BR
dc.relation.publisherversion	https://ieeexplore.ieee.org/document/8798246	pt_BR
dc.description.abstract1	A robust and synchronous formation flight controller is developed for fixed wing unmanned aerial systems (UASs) in a leader-follower architecture. The controller is composed of a nonlinear dynamic inversion recently developed in literature and a robust sliding mode controller and takes into account exchanges of data among neighbor vehicles. A Lyapunov candidate function demonstrates the stability of the proposed controller. A simulation evaluates three configurations of the proposed controller: a non-synchronous configuration that uses the discontinuous and chattering generating sign function, a non-synchronous configuration using the continuous saturation function that avoids chattering at the cost of lower steady state performance and finally the synchronous version using the saturation function. These configuration variants are compared to a linear controller of the literature. It is shown that, for the proposed controller, the use of the saturation function provides significant chattering reduction without much performance penalty. It is also shown that the synchronous variant increases the performance of the formation shape error transient response at the cost of decreased formation position error transient response performance.	pt_BR
dc.contributor.affiliation	University of Brasília, Department of Electrical Engineering	pt_BR
dc.contributor.affiliation	University of Brasília, Department of Electrical Engineering	pt_BR
dc.contributor.affiliation	University of Brasília, Department of Electrical Engineering	pt_BR
dc.description.unidade	Faculdade de Tecnologia (FT)	pt_BR
dc.description.unidade	Departamento de Engenharia Elétrica (FT ENE)	pt_BR
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