Formation Assembly and Transformation Controller of Multi-UAV based on Sliding Mode Control

In this paper, the multi-UAV formation assembly and formation transformation controller is designed based on the theory of sliding mode control. The long wingman formation mode is selected. For the formation flight system of UAV, by selected the linear sliding mode surface, a controller of control the team formation of UAV is designed. Simulation experiments are done by the formation assembly of UAVs and the maintenance and transformation of column formation, zigzag formation, hexagon formation and rectangle formation. The results show that the UAV formation can track the desired track, maintain and change the formation.