IJCAS

This paper presents two novel formation control methods for large-scale rotary-wing unmanned aerial vehicles (RUAVs), addressing the challenges posed by nonlinear flight dynamics. The virtual tigid-body kinematicsbased formation control method (VRKFCM) models the RUAVs as point particles relative to the leader, while the relative trajectory-based formation control method (RTFCM) generates follower trajectories using spline interpolation based on the leader’s motion. Both methods integrate incremental backstepping control to ensure precise trajectory tracking. Simulations of complex maneuvers, including pirouette and helical turns, demonstrate the effectiveness of these methods in maintaining formation stability under challenging flight conditions. This study contributes to the field by incorporating high-fidelity nonlinear dynamics into formation control, offering a more realistic approach for large-scale RUAV operations.

Keywords: Formation flight control, incremental backstepping control, rotorcraft unmanned aerial vehicles.