Gkesoulis, Athanasios (National Technical University of Athens), Psillakis, Haris (National Technical University of Athens (NTUA))

Distributed UAV Formation Control with Prescribed Performance

Scheduled for presentation during the Regular Session "Networked Swarms II" (WeC3), Wednesday, September 2, 2020, 17:40−18:00, Edessa

2020 International Conference on Unmanned Aircraft Systems (ICUAS), September 1-4, 2020 (Postponed from June 9-12, 2020), Athens, Greece

This information is tentative and subject to change. Compiled on April 26, 2024

Abstract

In this paper, a distributed prescribed performance formation control for 3-degree of freedom (3-DOF) unmanned aerial vehicles (UAVs) is presented. The information flow between the UAVs is described by a directed graph having a spanning tree with the leader UAV as a root. Only position measurements need to be transmitted between the UAVs. The UAV dynamics are derived from kinematic equations and the UAV drag coefficients and masses are considered unknown. For the controller design, a distributed low-complexity backstepping approach is adopted. A Lyapunov-like stability analysis proves the efficiency of the proposed methodology. Simulation results are provided that validate our theoretical results.