Sampled-data flocking with application to unmanned rotorcraft

Brandon J. Wellman, Jesse B. Hoagg

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

3 Scopus citations

Abstract

We present experiments demonstrating a discrete-time flocking control algorithm using a group of three rotorcraft. We use a motion-capture system to sense each rotorcraft’s position. In addition, we use a centralized computer to calculate each rotorcraft’s control and transmit the control to the rotorcraft. The centralized computer is not required for the discrete-time flocking algorithm but is used to simplify implementation. These experiments show that the rotorcraft tend to a flocking configuration independent of whether a virtual leader is present or not. Furthermore, these experiments show that the rotorcraft approximately follow the leader (if applicable).

Original languageEnglish
Title of host publicationAIAA Guidance, Navigation, and Control
DOIs
StatePublished - Jan 1 2018
EventAIAA Guidance, Navigation, and Control Conference, 2018 - Kissimmee, United States
Duration: Jan 8 2018Jan 12 2018

Publication series

NameAIAA Guidance, Navigation, and Control Conference, 2018

Conference

ConferenceAIAA Guidance, Navigation, and Control Conference, 2018
Country/TerritoryUnited States
CityKissimmee
Period1/8/181/12/18

Bibliographical note

Publisher Copyright:
© 2018, American Institute of Aeronautics and Astronautics Inc, AIAA. All rights reserved.

ASJC Scopus subject areas

  • Aerospace Engineering
  • Control and Systems Engineering
  • Electrical and Electronic Engineering

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