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LQR distributed cooperative control of a formation of low-speed experimental UAVs

Tomić, I., Milonidis, E. & Halikias, G. (2016). LQR distributed cooperative control of a formation of low-speed experimental UAVs. In: 2016 UKACC 11th International Conference on Control (CONTROL). . Institute of Electrical and Electronics Engineers (IEEE). doi: 10.1109/CONTROL.2016.7737541


The paper presents a cooperative scheme for controlling arbitrary formations of low speed experimental UAVs based on a distributed LQR design methodology. Each UAV acts as an independent agent in the formation and its dynamics are described by a 6-DOF (degrees of freedom) nonlinear model. This is linearized for control design purposes around an operating point corresponding to straight flight conditions and simulated only for longitudinal motion. It is shown that the proposed controller stabilizes the overall formation and can control effectively the nonlinear multi-agent system. Also, it is shown via numerous simulations that the system provides reference tracking and that is robust to environmental disturbances such as nonuniform wind gusts acting on a formation of four UAVs and to the loss of communication between two neighbouring UAVs.

Publication Type: Book Section
Additional Information: © 2016 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other users, including reprinting/ republishing this material for advertising or promotional purposes, creating new collective works for resale or redistribution to servers or lists, or reuse of any copyrighted components of this work in other works.
Subjects: T Technology > TK Electrical engineering. Electronics Nuclear engineering
Departments: School of Science & Technology > Engineering
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