Cooperative control for UAV formation flight based on decentralized consensus algorithm

  • Authors:

  • Yaohong Qu;Xu Zhu;Youmin M. Zhang

  • Affiliations:

  • School of Automation, Northwestern Polytechnical University, Xi'an, China;School of Automation, Northwestern Polytechnical University, Xi'an, China;Department of Mechanical and Industrial Engineering, Concordia University, Montreal, Canada

  • Venue:
  • ICIRA'12 Proceedings of the 5th international conference on Intelligent Robotics and Applications - Volume Part I
  • Year:
  • 2012

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Abstract

Decentralized consensus algorithm is suggested to maintain a specified formation configuration of multiple Unmanned Aerial Vehicles (UAVs). As no explicit leader exists in the team, only the local neighbor-to-neighbor information between vehicles is needed for the proposed control strategy. Position of the virtual leader and attitude of each UAV is the convergence state variable chosen for the algorithm. Communication limits and measurement errors are also considered to improve robustness. Besides, the motion synchronization technology is incorporated to achieve coordinated control of the UAVs, such that coupled relative position errors are used to calculate the trajectory modification. Finally, conclusion is conducted based on the testing results with simulation examples.