Decentralized High Level Controller for Formation Flight Control of UAVs
Mark Bastourous, François Guerin, Frédéric Guinand, Eric Lemains · 2020
The main contribution of this paper is the design of a decentralized and tuning-less high level controller able to maintain without tracking errors a Leader-Follower (LF) configuration in case of lack or degraded communications (latencies, loss ...) between the leader and followers UAVs. The high level controller only requires simple tunings and rests on a predictive filtering algorithm and a first order dynamic model to recover an estimation of the leader UAV velocities and avoid the tracking errors.