Control Architecture and Control Laws Design for Multiple UAVs Formation Flight

An autonomous formation-flight method for multiple UAVs (Unmanned Aerial Vehicle) was designed. First the mathematical representation of formation shape was analyzed. Then the control architecture was devised for multiple UAVs formation flight based on finite state machine. The flight states of the wing UAV were built through the formation flight and the transformation relationships of these flight states were defined. So the automated transformation among these flight states could be achieved and the intelligence of the pilots could be mimicked by this way. Aiming at the typical flight state which is capable of maintaining the formation shape, the control laws were contrived for the wing UAVs. Finally, two nonlinear fighter models which have 6 degrees of freedom were selected to carry out autonomous formation-flight experiments. And the results show the control laws designed for maintaining the formation shape are valid.