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An adaptive reconfigurable formation flight control design

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2 Author(s)
Boskovic, J.D. ; Sci. Syst. Co., Inc., Woburn, MA, USA ; Mehra, R.K.

In this paper we derive adaptive reconfigurable formation control algorithms using a leader-follower framework in the presence of loss-of-effectiveness control effector failures in the follower vehicle. We first present stable formation control algorithms designed to maintain the relative distances between the vehicles close to their desired values. A baseline reconfigurable control algorithm, and an online failure detection and identification system is then designed. Next, the adaptive reconfigurable control scheme is presented, followed by a proof of stability of the overall closed-loop formation control system. Simulation results are included to illustrate the properties of the proposed approach.

Published in:

American Control Conference, 2003. Proceedings of the 2003  (Volume:1 )

Date of Conference:

4-6 June 2003

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