Leader-follower formation control OF UAVs by PID-fuzzy

This paper deals with the subject of leader- follower formation control of unmanned aerial vehicle (UAVs) by PID - fuzzy. This is done to increase the performance of follower in meeting the leader’s instructions on speed and altitude in group-flights as guidance parameters for better maintenance of flight orders and more rapid maneuvers between leader-follower arrangements. For this purpose, the formation method is considered to achieve the required aim for maintaining three parameters of speed, altitude and heading angle according to leader-made changes and relative changes between the leader and follower. The simulation results are taken for 6 degrees of nonlinear freedom for a two-seat group of unmanned aerial vehicle by a body coordinate system. The considered control is for unmanned aerial vehicle with nonlinear inverse dynamic control. According to the results, the improving of the follower speed performance following the leader is observed in appropriate velocity and altitude parameters.