A fuzzy gain scheduling control algorithm for formation flight of multi-UAVs

This paper presents a consensus-based coordination protocol, using a fuzzy logic gain scheduling algorithm, for the formation flight of multiple quadrotors UAVs. The Newton-Euler approach is used to present the equations of motions for the multiple quadrotors UAVs. The formation flight consists of a distributed approach. Real-time experiments are presented in order to test the capabilities of the online tuning of consensus parameters, as well as a comparison with a fixed gain protocol. In effect, the variable gain consensus protocol shows a smoother output while maintaining a robust performance against induced wind gusts, in comparison with fixed gain coordination approach.