Formation Control for Unmanned Aerial Vehicles with Directed and Switching Topologies

<table class="figure-group"><tr class="fig-image" id="a"><td><object data="https://static.hindawi.com/articles/ijae/volume-2016/7657452/figures/7657452.fig.003a.svgz" name="7657452.fig.003a" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(a) </b>East position</td></tr><tr class="fig-image" id="b"><td><object data="https://static.hindawi.com/articles/ijae/volume-2016/7657452/figures/7657452.fig.003b.svgz" name="7657452.fig.003b" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(b) </b>East velocity</td></tr><tr class="fig-image" id="c"><td><object data="https://static.hindawi.com/articles/ijae/volume-2016/7657452/figures/7657452.fig.003c.svgz" name="7657452.fig.003c" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(c) </b>North position</td></tr><tr class="fig-image" id="d"><td><object data="https://static.hindawi.com/articles/ijae/volume-2016/7657452/figures/7657452.fig.003d.svgz" name="7657452.fig.003d" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(d) </b>North velocity</td></tr></table>

<div>Difference of UAV state and time-varying formation.</div>

International Journal of Aerospace Engineering

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Figure 3

Figure 3: Formation Control for Unmanned Aerial Vehicles with Directed and Switching Topologies 