Relative dynamic modeling and formation control of multiple unmanned helicopters
多无人直升机的相对动力学建模方法及其编队控制

Based on the concept of relative dynamics and leader-follower formation strategy, a new formation control algorithm is developed to partially solve the formation problem. Firstly, the relative dynamics is derived by combining the 6-DOF rigid body relative dynamics with the individual unmanned helicopter dynamics. Secondly, with the cascade control structure which includes inner and outer loops, a tracking controller is designed by using the techniques of approximate feedback linearization and the extended high gain observer. Finally, simulations of the proposed method with two unmanned helicopter systems are conducted to test the desired tracking performance and feasible disturbance rejection.