Integration of velocity observers and direction information for UAVs formation control
Addressing the issue of current bearing-based formation tracking control methods requi-ring prior knowledge of the desired system velocity,the unmanned aerial vehicles(UAVs)formation control strategy based on distributed velocity observers is proposed.By combining velocity observers with bearing-based formation controllers,the problem of certain drones being unable to directly ob-tain velocity information during the formation process is resolved.The formation of the system em-ploys a leader-follower structure,where scaling tasks are accomplished by altering the relative posi-tion of the leader.The design of the controller introduces a rotation matrix to achieve rotation tasks for the formation system.The stability of the controller is then proven using the Lyapunov method.Finally,the effectiveness of the control strategy is demonstrated through scaling and rotation simula-tion experiments by using a simulaiton software.
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