Three dimensional optimum controller for multiple UAV formation flight using behavior-based decentralized approach
Seungkeun Kim, Youdan Kim · 2007
This paper proposes a behavior-based decentralized approach for UAV formation flight. The objective of UAV formation flight is that UAVs have to fly to a specified region while maintaining the distances between UAVs. To design the controller, the coupled dynamics of multiple UAVs is considered with assumption that each UAV can share the state-information with one another. A feedback linearization rule with a diffeomorphic transfer map is derived for three degree-of-freedom point mass model. The behavior-based approach is considered to promptly react on various situations because its control input is decided based on the relative weight of each agent’s desired behavior. The optimization technique is used to provide the better performance of formation flying. To verify the performance of the proposed controller, numerical simulation is performed for a waypoint-passing mission of multiple UAVs.