Control and tracking of longitudinal dynamics of UAVs in synchronized motion

摘要

Study of multi UAVs in synchronized motion has drawn attention of late. The study is demonstrated for two UAVs and can be easily generalized for multi UAVs.This paper aims to maintain the relative motion between two UAVs with a fixed distance in forward and vertical direction and with tracking pitch orientation in a longitudinal plane.The longitudinal dynamics control of leader UAV and its tracking by a follower UAV are performed by tuned conventional PIT) controllers and H∞ controllers for each state separately under nominal and perturbed conditions.The well designed robust H∞ controllers performed the given MIMO system tracking even in perturbed state very efficiently as compared to the conventional PID techniques with the simplified plant dynamics.