Biologically-inspired coordination of multiple UAVs using sliding mode control

Young Hwan Chang, Claire Tomlin, Karl Hedrick

Research output: Chapter in Book/Report/Conference proceedingConference contribution

6 Scopus citations

Abstract

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.

Original languageEnglish (US)
Title of host publicationProceedings of the 2011 American Control Conference, ACC 2011
Pages4123-4128
Number of pages6
StatePublished - Sep 29 2011
Event2011 American Control Conference, ACC 2011 - San Francisco, CA, United States
Duration: Jun 29 2011Jul 1 2011

Publication series

NameProceedings of the American Control Conference
ISSN (Print)0743-1619

Other

Other2011 American Control Conference, ACC 2011
CountryUnited States
CitySan Francisco, CA
Period6/29/117/1/11

ASJC Scopus subject areas

  • Electrical and Electronic Engineering

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    Chang, Y. H., Tomlin, C., & Hedrick, K. (2011). Biologically-inspired coordination of multiple UAVs using sliding mode control. In Proceedings of the 2011 American Control Conference, ACC 2011 (pp. 4123-4128). [5991252] (Proceedings of the American Control Conference).