Please use this identifier to cite or link to this item: https://doi.org/10.1007/s11768-010-9188-6
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dc.titleDesign and implementation of a leader-follower cooperative control system for unmanned helicopters
dc.contributor.authorYun, B.
dc.contributor.authorChen, B.M.
dc.contributor.authorLum, K.Y.
dc.contributor.authorLee, T.H.
dc.date.accessioned2014-04-24T07:20:25Z
dc.date.available2014-04-24T07:20:25Z
dc.date.issued2010-01
dc.identifier.citationYun, B.,Chen, B.M.,Lum, K.Y.,Lee, T.H. (2010-01). Design and implementation of a leader-follower cooperative control system for unmanned helicopters. Journal of Control Theory and Applications 8 (1) : 61-68. ScholarBank@NUS Repository. <a href="https://doi.org/10.1007/s11768-010-9188-6" target="_blank">https://doi.org/10.1007/s11768-010-9188-6</a>
dc.identifier.issn16726340
dc.identifier.urihttp://scholarbank.nus.edu.sg/handle/10635/50891
dc.description.abstractIn this paper, we present a full scheme for the cooperative control of multiple unmanned aerial vehicle (UAV) helicopters. We adopt the leader-follower pattern to maintain a fixed geometrical formation while navigating the UAVs following certain trajectories. More specifically, the leader is commanded to fly on some predefined trajectories, and each follower is controlled to maintain its position in formation using the measurement of its inertial position and the information of the leader position and velocity, obtained through a wireless modem. More specifications are made for multiple UAV formation flight. In order to avoid possible collisions of UAV helicopters in the actual formation flight test, a collision avoidance scheme based on some predefined alert zones and protected zones is employed. Simulations and experimental results are presented to verify our design. © South China University of Technology and Academy of Mathematics and Systems Science, CAS and Springer-Verlag Berlin Heidelberg 2010.
dc.description.urihttp://libproxy1.nus.edu.sg/login?url=http://dx.doi.org/10.1007/s11768-010-9188-6
dc.sourceScopus
dc.subjectCollision avoidance
dc.subjectCooperative control
dc.subjectFlight formation
dc.subjectUnmanned aerial vehicles
dc.typeArticle
dc.contributor.departmentTEMASEK LABORATORIES
dc.contributor.departmentELECTRICAL & COMPUTER ENGINEERING
dc.description.doi10.1007/s11768-010-9188-6
dc.description.sourcetitleJournal of Control Theory and Applications
dc.description.volume8
dc.description.issue1
dc.description.page61-68
dc.identifier.isiutNOT_IN_WOS
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