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Article

String Instabilities in Formation Flight: Limitations Due to Integral Constraints

[+] Author and Article Information
P. Seiler

University of Illinois, Urbana-Champaign

A. Pant

Tata Research Development and Design Center

J. K. Hedrick

University of California, Berkeley

J. Dyn. Sys., Meas., Control 126(4), 873-879 (Mar 11, 2005) (7 pages) doi:10.1115/1.1858444 History: Received June 23, 2003; Revised January 22, 2004; Online March 11, 2005
Copyright © 2004 by ASME
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Feedback block diagram for helicopter and controller
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Time domain plots of reference tracking: Left: Control effort: Cyclic longitudinal input [δlon(t)]. Right: Reference [xd(t)] and Helicopter [x(t)] trajectories in the x direction.
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Plots of ρ[T(jω)] vs ω. Peak is ρ[T(jω)]=1.77 achieved at ω0=1.15 rads/s. The eigenvector that achieves the spectral radius is (−0.08+0.32i;0.94;0.01−0.01i;0)T.
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Time domain plots of predecessor following control law: Left: Cyclic longitudinal control input δlon(t) for vehicles 1,[[ellipsis]],4; Right: spacing errors in the x direction for vehicles 1,[[ellipsis]],4
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Block diagram for tight formation flight

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