A Novel Integrated Guidance and Control System Design in Formation Flight
Keywords:Formation Flight, Non-linear Dynamic, Pure pursuit, Integrated guidance and control.
Bird's formation flight is one of the best type of cooperation in nature. The bird's flight was the motivation of humans to flight. After one century of flight development, bird's formation flight was the motivation of humans to aircraft formation flight, as well. Based on the closeness of aircrafts in formation flight and the effect of disturbances such as vortex, the guidance and control of the followers aircraft is a challenging issue. This paper introduces a novel integration between guidance commands and system controller inputs. In recent papers the control system inputs were derived from approximate equations, and this approximation caused maneuver limitation. To tackle this problem, a new method is introduced which employs PID controller in integration block. This integrated guidance and control system employs the pure pursuit guidance to determine the unmanned aerial vehicle's (UAV’s) acceleration command. A two loop dynamic inversion technique is used for designing attitude and velocity controller, while the acceleration feedback control is used between guidance system and attitude controller, which leads to increase maneuverability of UAV’s formation flight. The simulation results show that the proposed method can control the UAV's formation with sufficient accuracy in severe maneuvers.
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