This paper studies the formation control of multiple UAVs in a leader-follower framework using the proportional integral derivative (PID) algorithm. Formation control is the use of multiple aircrafts for a specific configuration according to mission requirements. The study proposes the multi-UAV formation model using the communication topology and the system model that discusses the dynamics of the system. Then, the study designs the controller using the cooperative flight control system and PID control law. The PID controller ensures the cooperative stability of the formation throughout the flight. This study uses simulations to prove the efficiency of the designed algorithm. First, this paper plots the tracking error curves of the controller and simulates the actual response of the controller. The simulations show that the errors are within the acceptable range and quickly converge to zero.
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