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  • 1Ufa State Aviation Technical University, K. Marx Str., 12, 450008, Ufa, Russian Federation.

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This study introduces a novel decentralized controller for fixed-wing unmanned aerial vehicle (UAV) swarms, enabling coordinated flocking to circular paths. The method ensures stable formation control adaptable to various initial conditions and practical scenarios.

Keywords:
Collective circumnavigationCooperative guidanceDistributed controlStandoff trackingUAV consensus-based controlUAV swarming

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Area of Science:

  • Robotics
  • Control Systems
  • Aerospace Engineering

Background:

  • Coordinated control of unmanned aerial vehicle (UAV) swarms is crucial for complex missions.
  • Existing methods often require strict initial path adherence, limiting practical application.

Purpose of the Study:

  • To develop a decentralized control strategy for fixed-wing UAV swarms to achieve coordinated flocking around a circular path.
  • To overcome limitations of conventional methods by removing the requirement for initial circular path conformity.

Main Methods:

  • Utilizing non-uniform path-following vector fields for magnitude and direction control.
  • Implementing decentralized consensus for scalable neighbor-neighbor coordination.
  • Employing backstepping-based control commands that account for input constraints.
  • Applying adaptive self-tuning to mitigate parameter uncertainties in UAV kinematic models.

Main Results:

  • UAVs converge to circular motion around a target while maintaining relative phase-shift angles.
  • The controller demonstrates unconstrained scalability due to decentralized coordination.
  • Backstepping control ensures convergence of course angles and speeds to specified values.
  • Adaptive self-tuning enhances stability against parameter uncertainties.

Conclusions:

  • The proposed decentralized flocking controller is practical and robust, adaptable to diverse initial conditions.
  • Numerical simulations using realistic UAV models confirm the stability and effectiveness of the approach.
  • This research advances UAV swarm coordination by enabling flexible and scalable formation control.