Decentralized High Level Controller for Formation Flight Control of UAVs

Mark Bastourous (1, 2) , Francois Guerin (3, 2) , Frédéric Guinand (1, 2) , Eric Lemains (2)

1 RI2C - LITIS - Equipe Réseaux d'interactions et Intelligence Collective
2 ULH - Université Le Havre Normandie
3 GREAH - Groupe de Recherche en Electrotechnique et Automatique du Havre

The main contribution of this paper is the design of a decentralized and tuning-less high level controller able to maintain without tracking errors a Leader-Follower (LF) configuration in case of lack or degraded communications (latencies, loss…) between the leader and followers UAVs. The high level controller only requires simple tunings and rests on a predictive filtering algorithm and a first order dynamic model to recover an estimation of the leader UAV velocities and avoid the tracking errors.

Mots clés: Distributed control; Formation control; Robotics; Autonomous vehicles; UAVs

Domaines: Robotique [cs.RO]; Automatique / Robotique

Mark Bastourous, Francois Guerin, Frédéric Guinand, Eric Lemains. Decentralized High Level Controller for Formation Flight Control of UAVs. International Conference on Mechatronics and Robotics Engineering (ICMRE), Feb 2020, Barcelone, Spain. ⟨hal-02472535⟩