Robust Time-Varying Formation Control for Tail-Sitters in Flight Mode Transitions

This paper mainly addresses the formation control problem for a group of tail-sitters in transition flight between forward and vertical flight. A robust formation control method is proposed to achieve the aggressive time-varying formation subject to nonlinear dynamics and uncertainties. For each tail-sitter, the proposed control method results in a composite controller that includes a trajectory tracking controller and an attitude controller to achieve the translational and rotational motion control, respectively. It is proven that tracking errors of the proposed global closed-loop system can converge to a given neighborhood around the origin in a finite time. Finally, the simulation studies for multiple tail-sitters to accomplish the time-varying formation in transition flight are presented to show the effectiveness of the proposed control strategy.

• Publication year

  2021

• Venue

  IEEE Transactions on Systems, Man, and Cybernetics: Systems

• Publication date

  2021-07-01

• Fields of study

  Mathematics, Computer Science, Engineering

• Identifiers
  DOI 10.1109/TSMC.2019.2931482
• External record

  Open on Semantic Scholar

• Source metadata

  Semantic Scholar

• No claims are published for this paper.

• No concepts are published for this paper.

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