Nonlinear Direct Data-Driven Control for UAV Formation Flight System

Abstract

This paper proposes the nonlinear direct data-driven control from theoretical analysis and practical engineering, i.e., unmanned aerial vehicle (UAV) formation flight system. Firstly, from the theoretical point of view, consider one nonlinear closed-loop system with a nonlinear plant and nonlinear feed-forward controller simultaneously. To avoid the complex identification process for that nonlinear plant, a nonlinear direct data-driven control strategy is proposed to design that nonlinear feed-forward controller only through the input-output measured data sequence directly, whose detailed explicit forms are model inverse method and approximated analysis method. Secondly, from the practical point of view, after reviewing the UAV formation flight system, nonlinear direct data-driven control is applied in designing the formation controller, so that the followers can track the leader's desired trajectory during one small time instant only through solving one data fitting problem. Since most natural phenomena have nonlinear properties, the direct method must be the better one. Corresponding system identification and control algorithms are required to be proposed for those nonlinear systems, and the direct nonlinear controller design is the purpose of this paper.