Abstract
The behavior-based decentralized approach is considered for multi-UAV formation flight. It is assumed that each UAV has its own mission of flying to a specified region, while the distances between UAVs should be maintained. These two requirements may conflict with each other. To design the controller, coupled dynamics approach is applied to multi-UAVs with an assumption that each UAV can communicate with each other to share the state-information Control gain matrices are optimized to acquire better performances of formation flying. To validate the proposed control approach, numerical simulation is performed for the waypoint-passing mission of multi-UAVs.
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