3D multi-UAV coupled formation control based on backstepping control method
Yibo Li, Jiacheng Tong · 2024
A three-dimensional UAV cooperative formation control method, based on distributed control, is proposed to address the issue of poor follower acquisition of pilot status in multi-UAV formation flight. This system introduces the backstepping control method with integral terms to construct a trajectory tracking controller for the leader in the multi-UAV model. A cooperative formation control method, coupled with the trajectory tracker of the lead aircraft, is devised to realize UAV trajectory control. This paper examines the effect of the formation coupling gain on the formation control, verifying the improvement of the method's formation performance, and verifying the stability of the control system. Finally, simulation is used to verify the controller's practical effect. Simulations demonstrate that the technique can precisely monitor the primary aircraft's real-time condition and the UAV formation can sustain the desired arrangement to collaborate.