Formation Geometry Center based Formation Controller Design using Lyapunov Stability Theorem

  • Published : 2008.11.30


New formation flight controller for unmanned aerial vehicles is proposed. A behavioral decentralized control approach called formation geometry center control is adopted. Trajectory tracking as well as formation geometry keeping are the purpose of the formation flight, and therefore two controllers are designed: a trajectory tracking controller for reference trajectory tracking, and a position controller for formation geometry keeping. Each controller is designed using Lyapunov stability theorem to guarantee the asymptotic stability. Formation flight controller is finally obtained by combining the trajectory tracking controller and the formation geometry keeping controller using a weighting parameter that depends on the relative distance error between unmanned aerial vehicles. Numerical simulations are performed to validate the performance of the proposed controller.


formation flight;behavioral approach;formation gemetry center;Lyapunov stability theorem


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  1. Autonomous Three-Dimensional Formation Flight for a Swarm of Unmanned Aerial Vehicles vol.34, pp.6, 2011,