Formation Control of Multi-UAV Systems using Zeroing Dynamics Method

This paper deals with the formation control problem of multiple unmanned aerial vehicles (UAVs). The UAV models are considered highly nonlinear and only translational motion is considered. Zeroing dynamics was first adopted to tackle the position and velocity consensus and then extended to the application of formation control using a constant offset vector. The feasibility of the proposed algorithm was analyzed and simulation results of four UAVs' formation flying were shown to validate the effectiveness of the proposed formation control law.