Three-dimensional consensus-based control of autonomous uav swarm formations

Abstract

This chapter presents a multi-agent approach to controlling a decentralized swarm three-dimensional (3D) formations of autonomous fixed-wing unmanned aerial vehicles (UAVs). Cooperative control is analyzed within the framework of coordinated rectilinear path following. Focus is made on attaining a pre-specified geometric configuration and maintaining the resulting UAV formation vertically by controlling the altitude difference (distance between aircraft along the vertical). Consensus-based UAV interaction is used, i.e., there is no “leader.” Each UAV is assumed to be equipped with a standard autopilot, in which a finite-state machine controls the flight altitude. Thus, an arbitrary preconfigured 3D formation can be attained by combining this strategy with the existing approaches in controlling a formation as projected onto a horizontal plane. The proposed control laws are adjusted to the input constraints arising from the vertical velocity limits of the UAVs. MATLAB/Simulink modeling used complete nonlinear 6 degree-of-freedom (DoF) 12-state models of fixed-wing UAVs equipped with tuned autopilots in two scenarios: a group following a horizontal path, and following a descending path. Modeling showed that the proposed multi-UAV swarm controls were effective, as they could accurately attain and maintain a 3D formation of required shape.