Aerospace Knowledge and Technology Journal

Aerospace Knowledge and Technology Journal

Group flight of UAVs with virtual structure formation using intergrated PID control and dynamic inversion

Document Type : Research Paper

Authors
S.Javad Hossenizade 1
Yosef Abbasi 2
Jalal Karimi 3
1 MSc Student, Faculty of Aerospace, Malek Ashtar University of Technology, Iran.
2 Associate Professor, Faculty of Aerospace, Malek Ashtar University of Technology, Iran
3 Associate Professor, Faculty of Aerospace, Malek Ashtar University of Technology, Iran.
Abstract
In this article, the matter of group guidance of UAVs with virtual structure formation with the help of integrated PID control and dynamic inversion is explained. First, the modeling of a fixed-wing UAV was done using the equations of six degrees of freedom, and according to the choice of the virtual structure method for group flight, the appropriate guidance and control system for a drone based on the virtual guide was designed and the simulation of six degrees of freedom has been done. In this regard, the acceleration commands in the inertial coordinate system have been converted to the acceleration commands in the body coordinate system of the drone, and then these commands have been converted into position and speed angle commands. By combining PID linear control and dynamic inversion non-linear control, the system controller was designed and according to the obtained results, it was able to follow the virtual guide in the desired direction. According to this, by modeling the formation of the virtual structure and using the proposed controller, the positional error of the unit is controlled and the results of the group flight simulation show that the performance of UAVs in maintaining the formation, following the designated path and eliminating the positional error has been significantly improved.
Keywords
Six degrees of freedom
UAV
group flight
virtual structure formation
integrated PID control and dynamic inversion.
Subjects
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Aerospace Knowledge and Technology Journal
Volume 14, Issue 2 - Serial Number 2
October 2025
Pages 89-106