Varying-coefficient Based Distributed Formation Control of Multiple UAVs

This paper considers formation control of multiple unmanned aerial vehicles (UAVs) specified by Crazyflies. Based on the inter-vehicle distance dynamics, a varying-coefficient distributed controller is developed that can preserve the noncollinearity and achieve globally exponentially convergence to the desired formation pattern. An experiment is done to illustrate the effectiveness of the developed varying-coefficient distributed controller. The experiment comparison with respect to the fixed-coefficient distributed controller is also provided, indicating that our method assures accurate formation. A video demo of the experiment is available at https://www.bilibili.com/video/BV1iy4y1J74q.