Formation control of VTOL Unmanned Aerial Vehicles with communication delays

Abdelkader Abdessameud, Abdelhamid Tayebi

Research output: Contribution to journalArticlepeer-review

309 Scopus citations


The formation control problem of a team of Vertical Take-Off and Landing (VTOL) Unmanned Aerial Vehicles (UAVs) with communication delays is addressed. Based on the extraction algorithm presented in Abdessameud and Tayebi (2010a), we propose a new design methodology that simplifies the design of formation control laws with delayed communication for this class of under-actuated systems. Three control schemes are presented that provide delay-dependent and delay-independent results with constant and time-varying communication delays. The stability of the overall closed loop system in each scheme is established using LyapunovKrasovskii functionals. The proposed design methodology achieves global results in terms of the position and removes the requirement of the linear-velocity measurements. Simulation results are provided to show the effectiveness of the proposed control schemes.

Original languageEnglish (US)
Pages (from-to)2383-2394
Number of pages12
Issue number11
StatePublished - Nov 2011

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Electrical and Electronic Engineering


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