Abstract:

In order to make cooperative reconnaissance of the circumjacent area using unmanned aerial vehicles (UAVs) formation, a distributed formation control method based on virtual leader is presented. Considering the distributive information topology, a leader state estimate algorithm is firstly presented based on neighbor UAVs. And then a feedback linearization formation controller is designed within the local information. Simulations results show that when the UAV formation fulfills reconnaissance tasks according to the Archimedes spiral, the formation controller can make the UAVs form and maintain a stabile formation. It also reduces the formation error and enhances the flight path tracking precision.