Dynamic Control Design for UAV Formation Tracking with Time Delays

This paper addressed a well-documented open problem regarding unmanned aerial vehicles (UAVs) formation. Considering dynamic system features, a novel optimal formation algorithm for UAV system is presented in this paper. The UAV formation optimization problem can be first modeled as a linear quadratic optimization problem based on the analysis of the discrete UAV tracking error dynamic model. Subsequently, in order to achieve the purpose of minimizing the error of the system state including speed and position, a new optimal formation control design method is proposed. Finally, the effectiveness of the algorithm is verified by numerical simulation.