Jang, InmoJeong, JunhoShin, HyosangKim, SeungkeunTsourdos, AntoniosSuk, Jinyoung2017-11-072017-11-072017-10-18Jang I, Jeong J, Shin H-S, Kim S, Tsourdos A, Suk J, Cooperative control for a flight array of UAVs and an application in radar jamming, IFAC papers online, Vol. 50, Issue 1, July 2017, pp. 8011-80181474-6670http://dx.doi.org/10.1016/j.ifacol.2017.08.1225https://dspace.lib.cranfield.ac.uk/handle/1826/12706This paper proposes a flight array system and an integrated approach to cope with its operational issues raised in mission-planning level (i.e., task allocation) and control level (i.e., control allocation). The proposed flight array system consists of multiple ducted-fan UAVs that can assemble with each other to fly together, as well as dissemble themselves to fly individually for accomplishing a given mission. To address the task allocation problem, a game-theoretical framework is developed. This framework enables agents to converge into an agreed task allocation in a decentralised and scalable manner, while guaranteeing a certain level of global optimality. In addition, this paper suggests a cooperative control scheme based on sliding mode control and weighted pseudo-inverse techniques so that the system’s non-linearity and control allocation issue are effectively handled. As a proof-of-concept, a prototype simulation program is developed and validated in a cooperative jamming mission. The numerical simulations manifest the feasibility of effectiveness of the proposed approach.enAttribution-NonCommercial-NoDerivatives 4.0 Internationalhttp://creativecommons.org/licenses/by-nc-nd/4.0/Cooperative systemsCoordination of multiple vehicle systemsMulti-agent systemsFlying robotsTask allocationNonlinear cooperative controlArticle