Nonlinear correction for preventing string instability of UAV formation with digital navigation communication network

Abstract

This paper focuses on maintaining flight formation among UAVs using cross-information links while controlling altitude. As the number of agents increases, system oscillations -- or even a loss of stability -- may occur due to the so-called { instability phenomenon}. Actuator saturation can lead to oscillatory behavior, potentially compromising the formation structure. This study tests a nonlinear correction method for controlling the flight altitude of UAV formations, utilizing data exchange over a binary erasure communication network. A series of simulations demonstrates the method's effectiveness.