Decentralized formation control of multi-UAV systems under wind disturbances
Jie Zhang, Fanlin Meng, Yan Jun Zhou, Geng Lu, Yisheng Zhong · 2015
Formation control problems of multi-UAV (unmanned aerial vehicle) systems under wind disturbances are investigated. A single UAV is modeled as a second order integrator. The definition of formation is introduced. A novel formation control protocol with integral controller is presented, and its validity is proven based on output regulation technique. Experimental results are presented to demonstrate that the multi-UAV system can achieve time-varying formations under wind disturbances.