A Multi-region Distributed Control Scheme for Multi-UAV Formation

This paper presents a Multi-region Distributed Control Scheme for Multi-UAV Formation. A multi-region distributed control scheme is proposed by the feedback control method which adopts the hierarchical control method. The whole area can be divided into multiple regions which are regarded as the first-level followers in the formation and track the desired trajectory. In multi-region formation flight control, one region only needs to communicate with it's neighboring regions rather than the entire community. Simultaneously, each UAV in the region is regarded as a second-level follower, and tracks the first-level follower. Collision avoidance is applied so that a swarm of UAVs can fly in the desired formation while maintaining a safe distance from each other. A Like-Lyapunov function is presented for convergence analysis of the multi-regions UAV systems. Simulation results illustrate the performance of the proposed controller.