Hybrid Formation Control of a UAV Multi-Agent System

A switched nonlinear output-tracking control system for unmanned aerial vehicles (UAV) is proposed in this paper. A dynamic model of UAV is obtained on the special Euclidean group in order to prevent singularities. A composite nonlinear feedback controller is proposed for trajectory tracking of a UAV. Next the formation control problem for UAV swarm system with leader-follower consensus is investigated. In this paper, the leader agent follows a specific path, and the follower agents should track it in an exceptionally organized formation manner by definition of bias between the agents. Consequently, the closed-loop multi-agent system has suitable stability properties and tracking errors, uniformly approach to zero and tracking errors, uniformly approach to zero. The response of the switching multi-agent UAV system is investigated under random switches between the controllers. The simulation results demonstrate that using the proposed control architecture, the unmanned aerial vehicle can follow the reference path in the presence of external disturbances.

کلیدواژه ها:

multi-agent system ، nonlinear composite feedback ، switching system ، special Euclidean space ، external disturbances