Group control and string stability for UAV kinematic and dynamic models

The paper considers control issues in a multi-UAV system as both kinematics and dynamics are intertwined in the mathematical model of the aerial vehicles. To obtain an effective controller for the augmented model of the group members we apply the backstepping procedure. Special attention is given to control a group in a string-like formation and to ensure string stability for reducing the spacing error propagation between vehicles along the string. Finally, demonstrations of the performance and the efficiency of the proposed control algorithms in fulfilling various group tasks, will be presented.