Determining the Controller for Efficiently Emulating Swarm Behavior

Abstract

In cooperative robotics, the maintenance of a geometric structure during movement is a key challenge. A multi-layered and distributed control system based on the leader–follower technique is proposed as a solution for the swarm of drones in the creation of hierarchical tiers. This technique can assist in reducing the complexity of developing a large system. To ensure the ensemble system's tracking performance and reaction time, linear control methods utilizing a Proportional-Integral-Derivative controller and a Proportional-Derivative controller are provided. For retaining the hierarchical states in the formation, the collision avoidance safe travel distance technique is presented and applied into the control designs. Both methods offer rapid adoption in terms of their settling time without creating oscillations for the dynamic flight movement of vehicles under the circumstances of (1) nominal, (2) plant-model mismatch, and (3) external disturbance inputs. The proposed approaches are completely distributed, meaning that each UAV performs the feedback rules independently, allowing for more flexibility and scalability.