Three-Dimension Cluster Space Formation Control of Manned/Unmanned Aerial Team Subject to Input Constraint

Using the heterogeneous manned/unmanned aerial team in a dynamic environment offers a lot of benefits, but one needs an efficient system to coordinate their behavior. This article provides a three-dimension cluster space formation control method to allow one operator on the manned aircraft to superv...

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Published inIEEE transactions on industrial informatics Vol. 20; no. 6; pp. 8596 - 8604
Main Authors Huo, Mengzhen, Duan, Haibin
Format Journal Article
LanguageEnglish
Published Piscataway IEEE 01.06.2024
The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subjects
Aerospace electronics
Aircraft
Aircraft control
Autonomous aerial vehicles
Cluster space control
Clusters
Commands
Complex formation
Control methods
Control theory
Damping
Formation control
Kinematics
manned/unmanned aerial team
Optimal control
Time optimal control
Unmanned aerial vehicles
Online AccessGet full text
ISSN1551-3203
1941-0050
DOI10.1109/TII.2024.3367039

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Abstract Using the heterogeneous manned/unmanned aerial team in a dynamic environment offers a lot of benefits, but one needs an efficient system to coordinate their behavior. This article provides a three-dimension cluster space formation control method to allow one operator on the manned aircraft to supervise and control multiple unmanned systems simultaneously. In this method, the UAV swarm is regarded as an entity with specified cluster space states. Through this method, the cluster space commands issued by the operator could be converted to the UAV pose states. Via the combination of four designed cluster space commands, the heterogeneous team could complete the complex formation transformation in three-dimension space. To execute the commands from operators under the input constraint, the unmanned system utilizes the damping discrete time optimal control law to converge to the desired pose states. To validate the effectiveness of the proposed cluster space formation control method, experiments are conducted on both numerical simulations and platforms.
AbstractList Using the heterogeneous manned/unmanned aerial team in a dynamic environment offers a lot of benefits, but one needs an efficient system to coordinate their behavior. This article provides a three-dimension cluster space formation control method to allow one operator on the manned aircraft to supervise and control multiple unmanned systems simultaneously. In this method, the UAV swarm is regarded as an entity with specified cluster space states. Through this method, the cluster space commands issued by the operator could be converted to the UAV pose states. Via the combination of four designed cluster space commands, the heterogeneous team could complete the complex formation transformation in three-dimension space. To execute the commands from operators under the input constraint, the unmanned system utilizes the damping discrete time optimal control law to converge to the desired pose states. To validate the effectiveness of the proposed cluster space formation control method, experiments are conducted on both numerical simulations and platforms.
Author Huo, Mengzhen
Duan, Haibin
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SubjectTerms Aerospace electronics
Aircraft
Aircraft control
Autonomous aerial vehicles
Cluster space control
Clusters
Commands
Complex formation
Control methods
Control theory
Damping
Formation control
Kinematics
manned/unmanned aerial team
Optimal control
Time optimal control
Unmanned aerial vehicles
Title Three-Dimension Cluster Space Formation Control of Manned/Unmanned Aerial Team Subject to Input Constraint
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Volume 20
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