Title: Nonlinear modelling of leader-follower UAV close formation flight with dynamic inversion-based control

Authors: Yohannan Johnson; T.P. Imthias Ahamed

Addresses: UKF College of Engineering and Technology, Kollam, Kerala, India; College of Engineering Trivandrum(CET), University of Kerala, India ' Electrical and Electronics Department, TKMCE, Kollam, India

Abstract: The nonlinear dynamic inversion (DI) control techniques are used in leader-follower unmanned aerial vehicle (UAV) dynamics modelling considering new input variables in the present paper. Three separate DI controllers are developed for holding the velocity, heading and flight path angles of both UAVs in a synchronous manner. A numerical simulation is performed at the end for validating this formation control mission of multiple UAVs. The quantitative estimation of reduction in follower drag while in close formation flight is also calculated along with the controller design.

Keywords: dynamic inversion; close formation flight; CFF; leader-follower; unmanned aerial vehicle; UAV; induced drag; nonlinear control; heading angle; flight path angle; aerodynamic derivatives; upwash.

DOI: 10.1504/IJMIC.2018.094205

International Journal of Modelling, Identification and Control, 2018 Vol.30 No.2, pp.83 - 92

Received: 20 Jul 2016
Accepted: 11 Sep 2017
Published online: 22 Aug 2018 *

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