Hybrid Flocking Control Algorithm for Fixed-Wing Aircraft
Cheolhyeon Kwon(Purdue University)
United States | JGCD
2019-06-24 | 바로가기
Cited by 4
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Published Online:24 Jun 2019
Dawei Sun, Cheolhyeon Kwon and Inseok Hwang
This paper investigates the fixed-wing aircraft flocking problem with nonholonomic constraints, speed limits, conflict avoidance, and the efficient use of airspace taken into account. It is challenging to simultaneously address all of these issues with less restrictive requirements on the initial configuration of the aircraft, and yet, there are few theoretically rigorous works explicitly considering the fixed-wing aircraft flocking problem. Proposed here is a hybrid flocking control algorithm with three modes of decentralized flocking control protocol and a state-dependent switching logic. The three modes of control protocol are designed using artificial potential fields to address the collective flight behavior subject to the constraints of fixed-wing aircraft. The mode switching logic is designed based on the invariance principle, such that the desired convergence properties are guaranteed to be achieved. In addition, the proposed hybrid flocking control algorithm avoids undesirable fast mode switching.
This paper proposes a hybrid flocking control algorithm for the coordination of multiple fixed-wing aircraft. Compared to the general flocking problem, the fixed-wing aircraft flocking has several unique characteristics, such as nonholonomic constraints, speed limits, conflict avoidance, and the effective use of airspace. To simultaneously address these characteristics of fixed-wing aircraft flocking, the proposed algorithm employs a hybrid control scheme that consists of three modes of control protocol and a mode switching logic. The three modes of the control protocol are individually designed using artificial potential fields, and the mode switching logic is designed based on the invariance principle to guarantee that all the flocking objectives and constraints are satisfied. In addition to the theoretical verification, the proposed algorithm is numerically demonstrated via two illustrative examples.
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