Research Article

Autonomous Close Formation Flight Control with Fixed Wing and Quadrotor Test Beds

Table 11

Performance of the Phastball FF during turns.

FF turns (m)ClearanceMax err. distanceMean abs. err. distanceMean err. distanceStd. dev.

Flight 5Forward 12.01.9860.7620.7290.445
Lateral 0.03.4382.3942.3940.524
Vertical 0.09.4853.9603.9601.052

Flight 7Forward 12.02.9511.8631.8630.445
Lateral 1.24.1773.1803.1800.469
Vertical 2.46.8124.2654.2651.380

Flight 8Forward 12.06.0593.4313.4311.307
Lateral 1.24.4023.8363.8360.221
Vertical 2.48.4235.9945.9941.015

Flight 10Forward 12.03.3380.9490.8180.885
Lateral 1.24.5123.5613.5610.479
Vertical 2.411.398.7188.7181.585

Flight 11Forward 12.03.4010.9720.9550.904
Lateral 2.46.4494.8784.8780.660
Vertical 2.45.0193.8113.8110.960

Flight 12Forward 12.02.0300.7770.5670.753
Lateral 2.44.7784.2644.2640.412
Vertical 2.413.0910.77310.7732.187

Flight 13Forward 12.02.4921.0820.7471.152
Lateral2.45.5844.7194.7190.557
Vertical 2.407.2985.4545.4541.032

Flight 14Forward1015.20110.6646.9158.929
Lateral05.9591.7931.7631.671
Vertical 012.3878.6838.6832.083

Flight 15Forward 104.3381.9871.7121.117
Lateral 09.1408.532−8.5320.257
Vertical 021.93411.64311.6435.365

Flight 16Forward 0.53.3512.233−2.2280.844
Lateral 013.56512.651−12.6510.486
Vertical 018.9329.9119.9114.611

Flight 17Forward 0.55.07814.2614.2610.365
Lateral 010.0439.312−9.3120.555
Vertical 017.35916.14516.1450.996

Flight 18Forward 0.54.4312.5962.5961.506
Lateral 014.21012.616−12.6161.034
Vertical 016.4579.2729.2724.150