Formation Flight of Fixed Wing UAV Based on Adaptive Neuro Fuzzy Inference System
Eslam Nabil Mobarez, Amr A. Sarhan, Mahmoud Mohamed Ashry · 2019
The leader-follower approach is interesting especially because of its simplicity and its ability to adjust the configuration and the formation size. It consists of one leader UAV and one or more follower UAVs that fly together and keep a desired distance and orientation relative to a leader UAV. The trajectory is known for the leader and may not be known for the followers in advance. In this paper cooperative control of multi-UA Vs were proposed and verified to be helpful in performing a variety of missions. The low-level control is for the single UAV and top-level control is for the configuration made up of multi-UAV. The low-level control and top-level control were proposed based on adaptive neuro fuzzy inference system to enhance the durability of the autopilot system in presence of model uncertainty. The repudiation of wind disorder and handling effect of sensor's noise are also considered. The simulation results show the effectiveness of the autopilot proposed for single UAV and for the leader-follower configuration desired.