This paper deals with the optimal formation control problem based on model decomposition for multiple unmanned aerial vehicles (UAVs). The main contribution of this paper is to integrate the formation control and the trajectory tracking into one unified feedforward control and feedback control framework in an optimal mode. We first establish the dynamic model of the leader-follower UAV formation system, and the communication network topology which only depends on the position information given by the leader. Second, to reduce the complexity of the model, each follower is decomposed into three isolated subsystems. Third, a step-by-step formation controller design scheme decomposed into feedforward control and optimal control of formation control is proposed. Finally, the proposed scheme has been extensively simulated and the results demonstrate the stability and the optimality.
scite is a Brooklyn-based organization that helps researchers better discover and understand research articles through Smart Citations–citations that display the context of the citation and describe whether the article provides supporting or contrasting evidence. scite is used by students and researchers from around the world and is funded in part by the National Science Foundation and the National Institute on Drug Abuse of the National Institutes of Health.