Formation control of unmanned helicopters using the sliding mode controller method

This article aims to control the group flight of unmanned helicopters. After presenting the dynamic equations using the Newton-Euler method, the dynamic inversion control has been applied to control the position and attitude of helicopters. generalized predictive control was also used to control the position and attitude of the helicopter. And the results of the simulation of these two controllers were compared, which showed the better performance of the predictive control. Therefore, in the design of the formation control, the independent control of the helicopters was done using the predictive control method. To control the formation, the method based on the leader-follower model has been used, An integral sliding mode controller is also used to control the dynamics of the formation error. The results of the simulation showed the success of the tracking by increasing the number of helicopters and the linear and spiral paths in the control commands.