UAV-BS Formation Control Method Based on Loose Coupling Structure
We propose a novel formation control method considering the challenges of formation keeping, unmanned aerial vehicle (UAV) control, and position adjustment in UAV Base Station (UAV-BS) formation control scenarios. The method is based on a loose coupling structure inspired by the traditional virtual...
| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
| Published: |
IEEE
2022-01-01
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| Series: | IEEE Access |
| Subjects: | |
| Online Access: | https://ieeexplore.ieee.org/document/9853215/ |
| _version_ | 1818494496462077952 |
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| author | Peng Li Jiang Cao Dongchen Liang |
| author_facet | Peng Li Jiang Cao Dongchen Liang |
| author_sort | Peng Li |
| collection | DOAJ |
| description | We propose a novel formation control method considering the challenges of formation keeping, unmanned aerial vehicle (UAV) control, and position adjustment in UAV Base Station (UAV-BS) formation control scenarios. The method is based on a loose coupling structure inspired by the traditional virtual structure method. Firstly, a type of new formation is designed for UAV-BS group. When the UAV-BS group keep a stable network, the centers of all UAV-BS moving trajectory, e.g., circular, are treated as virtual points to form a rigid body. When the UAV-BS group transforms between different formations, the real positions of the UAV-BS group are used to form a rigid body. Secondly, we redesign a trajectory tracking method for UAV-BS to control the flight direction. A flight direction controller is designed for UAV-BS, based on nonlinear guidance logic. According to the empirical model of error feedback, an error corrector is designed to control the position error between the UAV-BS and the virtual point. Simulation results show that the proposed algorithm can satisfactorily complete the formation and control of UA-BS. Besides, the algorithm can reduce the difficulty of formation control of UAV-BS and the requirements of formation control for computing power and network communication. |
| first_indexed | 2024-12-10T18:07:16Z |
| format | Article |
| id | doaj.art-962ce41970f4473ab581e71aa1581b76 |
| institution | Directory Open Access Journal |
| issn | 2169-3536 |
| language | English |
| last_indexed | 2024-12-10T18:07:16Z |
| publishDate | 2022-01-01 |
| publisher | IEEE |
| record_format | Article |
| series | IEEE Access |
| spelling | doaj.art-962ce41970f4473ab581e71aa1581b762022-12-22T01:38:35ZengIEEEIEEE Access2169-35362022-01-0110883308833910.1109/ACCESS.2022.31977539853215UAV-BS Formation Control Method Based on Loose Coupling StructurePeng Li0https://orcid.org/0000-0002-0602-130XJiang Cao1Dongchen Liang2https://orcid.org/0000-0002-2941-8844Academy of Military Science, Beijing, ChinaAcademy of Military Science, Beijing, ChinaAcademy of Military Science, Beijing, ChinaWe propose a novel formation control method considering the challenges of formation keeping, unmanned aerial vehicle (UAV) control, and position adjustment in UAV Base Station (UAV-BS) formation control scenarios. The method is based on a loose coupling structure inspired by the traditional virtual structure method. Firstly, a type of new formation is designed for UAV-BS group. When the UAV-BS group keep a stable network, the centers of all UAV-BS moving trajectory, e.g., circular, are treated as virtual points to form a rigid body. When the UAV-BS group transforms between different formations, the real positions of the UAV-BS group are used to form a rigid body. Secondly, we redesign a trajectory tracking method for UAV-BS to control the flight direction. A flight direction controller is designed for UAV-BS, based on nonlinear guidance logic. According to the empirical model of error feedback, an error corrector is designed to control the position error between the UAV-BS and the virtual point. Simulation results show that the proposed algorithm can satisfactorily complete the formation and control of UA-BS. Besides, the algorithm can reduce the difficulty of formation control of UAV-BS and the requirements of formation control for computing power and network communication.https://ieeexplore.ieee.org/document/9853215/UAV-BSformation controlvirtual structureloose structure |
| spellingShingle | Peng Li Jiang Cao Dongchen Liang UAV-BS Formation Control Method Based on Loose Coupling Structure IEEE Access UAV-BS formation control virtual structure loose structure |
| title | UAV-BS Formation Control Method Based on Loose Coupling Structure |
| title_full | UAV-BS Formation Control Method Based on Loose Coupling Structure |
| title_fullStr | UAV-BS Formation Control Method Based on Loose Coupling Structure |
| title_full_unstemmed | UAV-BS Formation Control Method Based on Loose Coupling Structure |
| title_short | UAV-BS Formation Control Method Based on Loose Coupling Structure |
| title_sort | uav bs formation control method based on loose coupling structure |
| topic | UAV-BS formation control virtual structure loose structure |
| url | https://ieeexplore.ieee.org/document/9853215/ |
| work_keys_str_mv | AT pengli uavbsformationcontrolmethodbasedonloosecouplingstructure AT jiangcao uavbsformationcontrolmethodbasedonloosecouplingstructure AT dongchenliang uavbsformationcontrolmethodbasedonloosecouplingstructure |