On the Guidance of Multiple UAV using a Centralized Formation Control Scheme and Delaunay Triangulation

This manuscript presents an application of the multi-layer control scheme to guide a formation of unmanned aerial vehicles (UAV) in positioning and trajectory tracking missions. In such case, each part of the formation control problem is dealt by an individual layer, which is independent module dealing with a specific part of the navigation problem. These layers are responsible to generate the desired path of the formation, to provide the desired posture of the robots, and to establish the control signal of each robot to reach their desired positions. The formation controller here introduced is able to coordinate the robots to the desired formation, including the possibility of time-varying position and/or shape, while a nonlinear underactuated controller previously proposed is responsible to guide the UAVs to their desired positions. The stability analysis of the closed-loop system is demonstrated in the sense of Lyapunov, resulting that the formation errors are ultimately bounded. In the sequel, a strategy to guide a formation of multiple unmanned aerial vehicles (MUAV) to accomplish positioning and trajectory-tracking tasks is also proposed. Delaunay triangulation is here used to split the platoon of UAVs in N-triangles, which are individually guided by the multi-layer control scheme (MLCS). The advantage of the MLCS in such proposal is the maintenance of the the Jacobian matrix order, regardless of the number of robots in the formation, which reduces the complexity of the control problem. Simulation results demonstrate the ability to accomplish the aforementioned tasks, thus validating the proposal.