Formation Control of Unmanned Helicopters by Leader-Follower Method

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SAYYAADI H.; MOSTAFAVI E.

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Journal Paper

Paper Information

Journal: Journal of Aerospace Mechanics Year:2018 | Volume:13 | Issue:4 (50) Page(s): 59-69

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Information Journal Paper

Title

Formation Control of Unmanned Helicopters by Leader-Follower Method

Author(s)

SAYYAADI H. | MOSTAFAVI E. | Issue Writer Certificate

Keywords

Unmanned Small HelicoptersQ1

Newton-Euler MethodQ2

Leader-Follower MethodQ2

Sliding Mode ControlQ1

Abstract

In this article, for constructing a desired formation by a group of Unmanned Small Helicopters, a novel control algorithm is presented. Firstly, by using Newton-Euler Method, dynamics equations of motion of one helicopter is derived. Main rotor thrust, tail rotor thrust, longitudinal and lateral tilt angles of main rotor are four control inputs of each agent. Leader-Follower Method is used for controlling the formation of agents, for this purpose, motion of the follower relative to leaders is derived. Then, Sliding Mode Control (SMC) method is used to design a lower level controller. Each agent does appropriate reactions and adjusts its relative distances and directions according to the information which are received from others. For evaluating the presented control algorithm, simulations results is shown at the end.

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APA: Copy

SAYYAADI, H., & MOSTAFAVI, E.. (2018). Formation Control of Unmanned Helicopters by Leader-Follower Method. AEROSPACE MECHANICS JOURNAL, 13(4 (50) ), 59-69. SID. https://sid.ir/paper/101956/en

Vancouver: Copy

SAYYAADI H., MOSTAFAVI E.. Formation Control of Unmanned Helicopters by Leader-Follower Method. AEROSPACE MECHANICS JOURNAL[Internet]. 2018;13(4 (50) ):59-69. Available from: https://sid.ir/paper/101956/en

IEEE: Copy

H. SAYYAADI, and E. MOSTAFAVI, “Formation Control of Unmanned Helicopters by Leader-Follower Method,” AEROSPACE MECHANICS JOURNAL, vol. 13, no. 4 (50) , pp. 59–69, 2018, [Online]. Available: https://sid.ir/paper/101956/en

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