Research Article
Autonomous Close Formation Flight Control with Fixed Wing and Quadrotor Test Beds
Table 9
Transient behavior from the initiation of FF Ctrl.
| | | Init. dist. (m) | (s) | (s) | (s) | (s) | OS% |
| | Flight 5 | Vrt. | 10.0 | 6.0 | 8.0 | 5.1 | 7.4 | 2.5% | | Lat. | −6.5 | 5.4 | n/a | 3.4 | 4.1 | n/a | | Fwd. | 5.4 | 0.7 | 3.4 | 0.9 | 1.1 | 40.2% |
| | Flight 7 | Vrt. | 0.7 | 0.3 | n/a | 1.4 | 1.7 | n/a | | Lat. | — | — | — | — | — | — | | Fwd. | 12.2 | 6.2 | n/a | 7.8 | 9.2 | n/a |
| | Flight 8 | Vrt. | 10.1 | 2.1 | n/a | 3.2 | 3.8 | n/a | | Lat. | 5.2 | 7.0 | 11.12 | 18.2 | 18.4 | 236.2% | | Fwd. | 7.3 | 21.8 | n/a | 27.3 | 32.3 | n/a |
| | Flight 10 | Vrt. | 0.5 | 1.4 | 1.7 | 1.0 | 3.0 | 228.3% | | Lat. | 8.9 | 4.1 | n/a | 5.7 | 6.7 | n/a | | Fwd. | 20.5 | 32.4 | n/a | 29.8 | 35.2 | n/a |
| | Flight 11 | Vrt. | 4.0 | 3.5 | 5.28 | 5.1 | 6.8 | 29.0% | | Lat. | 14.5 | 3.6 | n/a | 4.7 | 4.9 | n/a | | Fwd. | 130.0 | 22.5 | 18.9 | 22.5 | 26.6 | 14.6% |
| | Flight 12 | Vrt. | — | — | — | — | — | — | | Lat. | 77.6 | 4.1 | 6.8 | 6.5 | 13.3 | 18.2% | | Fwd. | 16.7 | 13.5 | n/a | 12.7 | 15.0 | n/a |
| | Flight 13 | Vrt. | 10.1 | 2.3 | 4.2 | 4.03 | 11.4 | 37.5% | | Lat. | 23.2 | 8.5 | 11.1 | 9.2 | 10.8 | 0.0% | | Fwd. | 16.3 | 9.2 | n/a | 11.9 | 12.3 | n/a |
| | Flight 16 | Vrt. | — | — | — | — | — | — | | Lat. | 47.0 | 5.1 | n/a | 8.1 | 10.1 | n/a | | Fwd. | −24.0 | 3.1 | n/a | 4.0 | 5.0 | n/a |
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