Multi-UAV flocking control with individual properties inspired by bird behavior

This paper focuses on the cooperative control problem for multiple unmanned aerial vehicles (UAVs). Unlike the existing models emphasizing the behavioral dimension, a general control framework inspired by bird behavior is developed by decoupling the problem into top decision-making and low-level management. Based on the individual properties, the models of communication modes, individual contribution, social relationship, and movement characteristics are proposed, where the individual contribution and social relationship can reflect the results of high-level decisions. The desired commands of the low-level realization are generated after the pre-linearized process and decoupled operator. Meanwhile, to guarantee the safety of each UAV, the collision avoidance mechanism is also applied. The convergence and stability of the proposed algorithm are also discussed. Experimental results demonstrate the effectiveness of the control framework in solving the UAV flocking control problem.