A Software-in-the-Loop Implementation of Adaptive Formation Control for Fixed-Wing UAVs

Jun Yang; Ximan Wang; Simone Baldi; Satish Singh; Stefano Farì

doi:10.1109/JAS.2019.1911702

Volume 6 Issue 5

Sep. 2019

IEEE/CAA Journal of Automatica Sinica

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Article Navigation > IEEE/CAA Journal of Automatica Sinica > 2019 > 6(5): 1230-1239

Jun Yang, Ximan Wang, Simone Baldi, Satish Singh and Stefano Farì, "A Software-in-the-Loop Implementation of Adaptive Formation Control for Fixed-Wing UAVs," IEEE/CAA J. Autom. Sinica, vol. 6, no. 5, pp. 1230-1239, Sept. 2019. doi: 10.1109/JAS.2019.1911702

Citation:

Jun Yang, Ximan Wang, Simone Baldi, Satish Singh and Stefano Farì, "A Software-in-the-Loop Implementation of Adaptive Formation Control for Fixed-Wing UAVs," IEEE/CAA J. Autom. Sinica, vol. 6, no. 5, pp. 1230-1239, Sept. 2019. doi: 10.1109/JAS.2019.1911702

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A Software-in-the-Loop Implementation of Adaptive Formation Control for Fixed-Wing UAVs

doi: 10.1109/JAS.2019.1911702

Funds: This work was supported by the Fundamental Research Funds for the Central Universities (4007019109) (RECON-STRUCT), the Special Guiding Funds for Double First-class (4007019201), and the Joint TU Delft - CSSC Project ‘Multi-agent Coordination with Networked Constraints’ (MULTI-COORD). The first two authors equally contributed to this work

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Author Bio:
Jun Yang received the MS degree in electronic information engineering from Northwestern Polytechnical university. He is a Research Fellow and a System Designer at the Systems Engineering Research Institute of China. His current research interests include unmanned air vehicle systems, airborne detection information processing, and object detection and tracking

Ximan Wang received the B.Sc. degree from Taiyuan University, in 2014, and the M.Sc. degree from University of Sheffield, in 2016. He was a Senior Engineer at Systems Engineering Research Institute, Beijing, China, and he is now pursuing the Ph.D. degree at the Delft Center for Systems and Control, Delft University of Technology with research interests in adaptive optimization for control and UAV adaptive control

Simone Baldi received the B.Sc. degree in electrical engineering, and the M.Sc. and Ph.D. degrees in automatic control systems engineering from the University of Florence, Italy, in 2005, 2007, and 2011, respectively. He is currently Professor at the School of Mathematics, Southeast University, with a guest position at the Delft Center for Systems and Control, Delft University of Technology, where he was assistant professor. Previously, he held postdoctoral researcher positions at the University of Cyprus, and at the Information Technologies Institute, Centre for Research and Technology Hellas. His research interests include adaptive systems and switching control with applications in networked control systems and multi-agent systems

Satish Singh received the B.E. (Bachelor of Engineering) degree in electrical engineering from Nagpur University, India in 2012. He is currently pursuing his M.Sc. degree in embedded systems from Delft University of Technology, Delft, The Netherlands. His work focuses on software-in-the-loop and hardware-in-theloop simulations for UAVs

Stefano Farì received the B.Sc. and M.Sc. in automation engineering from Politecnico di Milano, Italy, performing his master thesis as guest researcher at the Delft Center for Systems and Control, Delft University of Technology, The Netherlands. He has worked at Piaggio Aerospace, Savona, Italy, as flight control system engineer and he is now working as GNC engineer at German Aerospace Center (DLR), Bremen, Germany
Corresponding author: S. Baldi is with School of Mathematics, Southeast University, 211189 Nanjing, China, and also with DCSC, TU Delft, 2628CD Delft, The Netherlands.(e-mail: s.baldi@tudelft.nl)
Received Date: 2019-04-16
Revised Date: 2019-05-19
Accepted Date: 2019-07-21

Available Online: 2019-07-23

Abstract

Abstract

This paper discusses the design and software-in-the-loop implementation of adaptive formation controllers for fixed-wing unmanned aerial vehicles (UAVs) with parametric uncertainty in their structure, namely uncertain mass and inertia. In fact, when aiming at autonomous flight, such parameters cannot assumed to be known as they might vary during the mission (e.g. depending on the payload). Modeling and autopilot design for such autonomous fixed-wing UAVs are presented. The modeling is implemented in Matlab, while the autopilot is based on ArduPilot, a popular open-source autopilot suite. Specifically, the ArduPilot functionalities are emulated in Matlab according to the Ardupilot documentation and code, which allows us to perform software-in-the-loop simulations of teams of UAVs embedded with actual autopilot protocols. An overview of realtime path planning, trajectory tracking and formation control resulting from the proposed platform is given. The software-inthe-loop simulations show the capability of achieving different UAV formations while handling uncertain mass and inertia.
- ArduPilot,
- adaptive formation control,
- Fixed-wing UAVs,
- software-in-the-loop simulations

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References

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Adaptive formation controllers for fixed-wing Unmanned Aerial Vehicles (UAVs).
Design and software-in-the-loop implementation.
Parametric uncertainty in the UAV structure, namely uncertain mass and inertia.
The autopilot is based on ArduPilot, a popular open-source autopilot suite.
The ArduPilot functionalities are emulated in Matlab according to the Ardupilot code.

A Software-in-the-Loop Implementation of Adaptive Formation Control for Fixed-Wing UAVs

doi: 10.1109/JAS.2019.1911702

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通讯作者: 陈斌, bchen63@163.com

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