A synchronization strategy for three dimensional decentralized formation control of unmanned aircrafts

In this paper, a three dimensional formation control strategy for multiple unmanned aircrafts systems is proposed based on the virtual structure. A novel synchronization control strategy is employed to improve the convergence of the unmanned aircrafts and increase the robustness of the system due to faults in unmanned aircrafts´ actuators. The proposed approach is decentralized which increases its reliability in long maneuvers when the agents are flying far from stations. Simulation results for a team of four unmanned aircrafts to form a pyramid formation in the frame of the virtual leader confirm the efficiency of the proposed approach.