Unmanned aerial vehicle formation control for reconnaissance task based on virtual leader
HU Ming-lang · Systems engineering and electronics · 2010
In order to make cooperative reconnaissance of the circumjacent area using unmanned aerial vehicles(UAVs) formation,a distributed formation control method based on virtual leader is presented.Considering the distributive information topology,a leader state estimate algorithm is firstly presented based on neighbor UAVs.And then a feedback linearization formation controller is designed within the local information.Simulations results show that when the UAV formation fulfills reconnaissance tasks according to the Archimedes spiral,the formation controller can make the UAVs form and maintain a stabile formation.It also reduces the formation error and enhances the flight path tracking precision.