Switching control for formation of UAVS - Collision avoidance cases

In this paper, we develop two decentralized controllers to control simplified dynamic models of three unmanned aerial vehicles (UAVs). The formation control scheme is constructed in hybrid system fashion, i.e., switching between two stable systems with state-dependent (collision detection based) switching logic. Main Formation Controller (MFC) playing the role of formation hold and Collision Avoidance Controller (CAC) giving benefit to short range collision avoidance are developed. Both MFC and CAC use identical controller design which give benefit in the sense that analysis of controller is done once.