TY - GEN
T1 - Biologically-inspired coordination of multiple UAVs using sliding mode control
AU - Chang, Young Hwan
AU - Tomlin, Claire
AU - Hedrick, Karl
PY - 2011
Y1 - 2011
N2 - We consider the problem of prey (evader) hunting for single or multiple Unmanned Aircraft Vehicles (UAVs) based on biologically-inspired predator-prey behavior. First, we apply sliding mode control (SMC) to a single predator/ single prey model. Next, we propose motion synchronization of multiple UAVs to hunt prey effectively. The proposed motion control scheme is formulated and synchronization is proved. Also, numerical examples demonstrate the performance of the proposed SMC controller and synchronization of multiple UAVs. Therefore, a biologically-inspired strategy of multiple UAVs with synchronization might be a possible approach to effectively hunt other UAVs.
AB - We consider the problem of prey (evader) hunting for single or multiple Unmanned Aircraft Vehicles (UAVs) based on biologically-inspired predator-prey behavior. First, we apply sliding mode control (SMC) to a single predator/ single prey model. Next, we propose motion synchronization of multiple UAVs to hunt prey effectively. The proposed motion control scheme is formulated and synchronization is proved. Also, numerical examples demonstrate the performance of the proposed SMC controller and synchronization of multiple UAVs. Therefore, a biologically-inspired strategy of multiple UAVs with synchronization might be a possible approach to effectively hunt other UAVs.
UR - http://www.scopus.com/inward/record.url?scp=80053153893&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=80053153893&partnerID=8YFLogxK
M3 - Conference contribution
AN - SCOPUS:80053153893
SN - 9781457700804
T3 - Proceedings of the American Control Conference
SP - 4123
EP - 4128
BT - Proceedings of the 2011 American Control Conference, ACC 2011
T2 - 2011 American Control Conference, ACC 2011
Y2 - 29 June 2011 through 1 July 2011
ER -