Coordinated Control of Multi-Agent Unmanned Air Vehicles Using Swarming Technique

This paper deals with the problem of the formation control of Unmanned Aerial Vehicles. Formation control techniques are burgeoning vis-vis other operations involving single UAV. This can be credited to the wide array of applications involved with the use of multiple UAVs. This paper uses a swarming technique for the coordinated control of UAVs. The matrix decomposition method is used in this regard, and appropriate gain values are assigned to the eigenvector, to keep the UAVs in a trouble-free and well-ordered formation. The communication topology applied is straight forward where both drones are assigned with different frequencies. In particular, to avoid any communication losses which may encounter by UAV, due to the same frequency value. The modality of this paper, that a hardware-based experiential setup is being used to test the proposed algorithm. This paper shows a detailed analysis of how swarming could be applied in real-world hardware prototypes. The simulated graph shows the performative of the desired controller as well as it proves that the follower UAVs are chasing the master drone unceasingly.