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A software-in-the-loop implementation of adaptive formation control for fixed-wing UAVs

Yang, Jun and Wang, Ximan and Baldi, Simone and Singh, Satish and Fari, Stefano (2019) A software-in-the-loop implementation of adaptive formation control for fixed-wing UAVs. IEEE/CAA Journal of Automatica Sinica, 6 (5), pp. 1230-1239. IEEE - Institute of Electrical and Electronics Engineers. doi: 10.1109/JAS.2019.1911702. ISSN 2329-9266.

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Official URL: https://ieeexplore.ieee.org/document/8823581


This paper discusses the design and software-in-the-loop implementation of adaptive formation controllers for fixed-wing unmanned aerial vehicles (UAVs) with parametric uncertainty in their structure, namely uncertain mass and inertia. In fact, when aiming at autonomous flight, such parameters cannot assumed to be known as they might vary during the mission (e.g. depending on the payload). Modeling and autopilot design for such autonomous fixed-wing UAVs are presented. The modeling is implemented in Matlab, while the autopilot is based on ArduPilot, a popular open-source autopilot suite. Specifically, the ArduPilot functionalities are emulated in Matlab according to the Ardupilot documentation and code, which allows us to perform software-in-the-loop simulations of teams of UAVs embedded with actual autopilot protocols. An overview of realtime path planning, trajectory tracking and formation control resulting from the proposed platform is given. The software-in-the-loop simulations show the capability of achieving different UAV formations while handling uncertain mass and inertia.

Item URL in elib:https://elib.dlr.de/129089/
Document Type:Article
Title:A software-in-the-loop implementation of adaptive formation control for fixed-wing UAVs
AuthorsInstitution or Email of AuthorsAuthor's ORCID iD
Wang, XimanTu DelftUNSPECIFIED
Baldi, SimoneTU DelftUNSPECIFIED
Singh, SatishTU DelftUNSPECIFIED
Fari, StefanoStefano.Fari (at) dlr.dehttps://orcid.org/0000-0001-5595-6905
Date:3 September 2019
Journal or Publication Title:IEEE/CAA Journal of Automatica Sinica
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In ISI Web of Science:Yes
DOI :10.1109/JAS.2019.1911702
Page Range:pp. 1230-1239
Publisher:IEEE - Institute of Electrical and Electronics Engineers
Keywords:Unmanned aerial vehicles, UAV, Matlab, adaptation models, ArduPilot, adaptive formation control, fixed-wing UAVs, software-in-the-loop simulation, Protocols Heuristic algorithms
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space System Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Space System Technology
DLR - Research theme (Project):R - Optical navigation on hybrid avionics architecture
Location: Bremen
Institutes and Institutions:Institute of Space Systems > Navigation and Control Systems
Deposited By: Fari, Stefano
Deposited On:25 Sep 2019 08:51
Last Modified:19 Aug 2021 13:04

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