Position-Based Cooperative Formation Control for Multi-UAV Systems Using a Leader-Follower Strategy
Qi Yang, Ban Wang, Lingxia Mu, Xianghong Xue · IFAC-PapersOnLine · 2025
In this paper, a distributed controller based on position consistency is proposed to address the unmanned aerial vehicle (UAV) formation control problem. Initially, a quadrotor UAV model is established using the Newton-Euler equations. Subsequently, a formation UAV controller is designed based on consistency theory. This controller enables the followers to maintain formation by synchronizing their positions with a virtual leader. Finally, simulations using MATLAB demonstrate that each UAV can effectively follow the desired position and control the state errors efficiently.