Abstract:

Aiming at solving the problem of cooperative motions of multi-unmanned aerial vehicles (UAVs), a cooperative motions control method guided by virtual formations is proposed. Combined with the leader-following method and virtual structure method, this method depicts the way to disassemble the cooperative motions of multi-UAVs into three parts. First, in light of the waypoint data and cooperative virtual formation structure, it provides the means to compute the anticipating pathway of virtual formations. Besides, the paper delineates that the design of the path following guidance law which can provide the lateral acceleration instruction to control one single UAV, for the purpose of following the corresponding virtual formation pathway. Furthermore, this method designs a formation error controller based on Lyapunov theory, which can reduce formation errors and keep the appropriate formation. Simulation example shows that this proposed method can achieve the cooperative motions of multiUAVs efficiently.