Formation control of multiple UAV’s via decentralized control approach

Abstract

In this article simultaneous arrival of multiple unmanned aerial vehicle (UAV) at a common point was studied in a fixed network hierarchy is used. By considering the model of fixed wing UAV the decentralized based control algorithm is developed for the formation control of all UAV’s. The tree based networked geometry is developed for the formation control of multiple UAV’s with respect to the leader. Whereas, UAV’s agent or (leader / follower) are autonomously connected with each other. Formation of flight via decentralized control structure which contains two parts, one is to achieve the arrival of expected meet-point for the formation geometry and other is to maintain the synchronization of all UAV’s. Moreover, the leader is supposed and able to regulate the speed or velocity of UAV’s. Simulated results showed that arrival of multiple UAV’s at a common point for the formation is achieved successfully and the above designed control algorithm has good robustness and flexible.