A decentralized control approach to formation maneuvers in Multiple Unmanned Aerial Vehicles

This paper proposes a decentralized control approach to formation maneuver. The dynamic model of multiple unmanned aerial vehicles is established, and the position and velocity are regarded as coordination variables of formation. Through the second-order integral dynamics feedback linearization, the consistency coordination strategy is coupled with the dynamics input. The formation error and position error functions of multiple unmanned aerial vehicles are established, and two contradictions of formation maneuver are balanced by error parameters. Simulation results demonstrate the effectiveness and strategy of the proposed approach.