A nonlinear control of 2-D UAVs formation keeping via virtual structures

In this paper, a nonlinear controller for UAVs formation keeping in 2-D situation is designed. In this design, virtual structure approach is applied for formation definition, and Lyapunov stability theory is applied to obtain the original nonlinear controller. And, a nonlinear function is used to make the controller more efficient combined with the differential and integral techniques. Simulation results show that UAVs formation keeping is well achieved with the controllers designed and which present better performance than the existing linear PI controllers.