Multi-Unmanned Helicopter formation control on relative dynamics

Multiple Unmanned Helicopters (UH) formation control is a difficult problem due to the highly nonlinear model and extensively existing uncertainties. In this paper, basing on the concept of relative dynamics and Leader-Follower formation strategy, a new formation control algorithm is given to partially solve this problem. First, the formation control problem is transformed into tracking problems of multiple Leader-Follower partners, and the relative dynamics model is derived by combining a fully dynamics model of follower UH system and a simplified model of leader UH system. Second, with the approximate feedback linearization method, a nonlinear robust tracking controller is designed by the H¿ control technology. Finally, simulations of the new proposed method with two UH systems are conducted, and the results are compared with the normal Leader-Follower formation control algorithm to show the improvement.