Formation control of two miniature fixed wing unmanned aerial vehicles (UAVs) is presented in this paper. A leader-follower control strategy is proposed to achieve the formation. The two UAVs can communicate with each other and the leader UAV can transmit its flight parameters to the follower UAV. In the flight, the leader UAV mainly tracks the desired trajectory, meanwhile the follower UAV tracks the leader’s specified state to accomplish primary consensus, based on which traditional PID control method with amplitude limits is utilized to achieve accurate formation. This method is simple and easy to implement. The flight experiment is carried out on small fixed-wing UAVs. The results show that the two-aircraft formation control strategy and method proposed in this paper is effective for formation flight, when flight in straight line the formation shape is retained quite well, when turning the two aircrafts also have a good effect of companion. Although the methods and experiments presented in this paper are for two UAVs, they can be applied for multiple UAVs with one leader and several followers.
Formation Control of Two Fixed Wing UAVs Based on Specified State Tracking
Lect. Notes Electrical Eng.
30.10.2021
9 pages
Aufsatz/Kapitel (Buch)
Elektronische Ressource
Englisch
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