Nonlinear modelling of leader-follower UAV close formation flight with dynamic inversion-based control

Abstract

The nonlinear dynamic inversion (DI) control techniques are used in leader-follower unmanned aerial vehicle (UAV) dynamics modelling considering new input variables in the present paper. Three separate DI controllers are developed for holding the velocity, heading and flight path angles of both UAVs in a synchronous manner. A numerical simulation is performed at the end for validating this formation control mission of multiple UAVs. The quantitative estimation of reduction in follower drag while in close formation flight is also calculated along with the controller design.