Fuzzy technique based close formation flight control

This paper studies a fuzzy logic method for close formation control of multi-UAVs. To account for the aerodynamic impacts of leading UAV on the trailing UAV, a fuzzy algorithm is developed to track and maintain close relative planar spacing during close formation maneuver. The algorithm is refined using a self tuning technique without communication link to provide robust positioning of the aerial vehicles. It is shown that in the absence of measurements from the leading aircraft the algorithm provides sufficient estimation and control of lateral and longitudinal spacing to maintain stable formation flight within the vortex disturbance. The developed fuzzy algorithms function satisfactorily in the presence of dynamic uncertainties. Theory proof and simulation verifies the effectiveness of the proposed method.