Distributed UAV Formation Control with Prescribed Performance
Athanasios K. Gkesoulis, Haris E. Psillakis · 2020
In this paper, a distributed prescribed performance formation control for 3-degree of freedom (3-DOF) unmanned aerial vehicles (UAVs) is presented. The information flow between the UAVs is described by a directed graph having a spanning tree with the leader UAV as a root. Only position measurements need to be transmitted between the UAVs. The UAV dynamics are derived from kinematic equations and the UAV drag coefficients and masses are considered unknown. For the controller design, a distributed low-complexity backstepping approach is adopted. A Lyapunov-like stability analysis proves the efficiency of the proposed methodology. Simulation results are provided that validate our theoretical results.