Towards Full Formation Control of an Autonomous Helicopters Group

This publication reports the first steps taken towards designing sliding mode control laws for controlling multiple small-sized autonomous helicopters in arbitrary formations. Two control schemes, which are required for defining a unique three-dimensional formation, are discussed. One of the schemes is developed in this work as a step towards full formation control. The presented formation control schemes only use local information. A six-degree-of-freedom dynamic model has been used for the helicopters. Four control inputs, the main and the tail rotor thrusts, and the roll and pitch moments, are assumed. Parameter uncertainty in the dynamic model and wind disturbance are considered in designing the controllers. The effectiveness and robustness of these control laws in presence of parameter uncertainty in the dynamic model and wind disturbances are demonstrated by computer simulations. Finally, the plans for improvement and completion of this work are discussed.

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