The specific objective of this paper is to develop a tool that calculates the optimal trajectory of the follower aircraft as it completes a formation rejoin, and then maintains the formation position, defined as a ring of points, until a fixed final …
In the ring formation control problem, the follower is designated to approach a ring defined relative to the leader. This type of formation gives the follower more flexibility as it trails the leader. To achieve such formation, the follower’s …
This paper focuses on optimizing the 3D flight trajectory of a fixed-wing follower aircraft in a leader-follower formation scenario. Instead of a rigid formation, the desired formation is defined as set of points configured as a ring located behind …
Conventional leader-follower formations restrict the follower to a single desired position relative to the leader. To give the follower more flexibility in motion and to replicate typical human pilot operations, in this paper we propose a control …
Most conventional formation control algorithms consider convergence towards a specific desired point (or a specific desired displacement) for each vehicle relative to their neighbors. However, this specification restricts the flexibility in the …
This paper describes a technique, called quarter-cycle constant period frequency modulation, to control the motion of wings on a flapping wing micro-air vehicle. This technique allows control over the wingbeat period and three additional points (the …
In this paper, the interception of a target vehicle is presented utilizing a Bézier path. Utilizing the Bézier path, the controlled vehicle is navigated from an initial point and velocity vector to a desired target waypoint and velocity vector. To …
This work is focused on testing the viability of split-cycle constant-period frequency modulation for controlling a flapping wing micro air vehicle. By varying the velocities of the upstroke and downstroke portions of a flapping wings’ motion, …