Consensus algorithm for formation flight control of multiple UAVs

The control of autonomous agents is a field of research of considerable interest given the wide range of applications this technology can have. The development of Unmanned Aerial Vehicles (UAVs) fits precisely into this broad field of study for which strong growth is expected in the future. Indeed, this type of system allows for greater effectiveness and safety in both military and civilian operational contexts; however, their control generally rests with remote operators or is at most semi-autonomous. Increasing interest, moreover, has been generated around the concept of Manned-Unmanned Teaming, or the cooperation within the same operational scenario between piloted and unmanned aircraft. Cooperation between manned and unmanned aircraft and the ways in which the latter can be controlled autonomously for them to provide support in operational contexts is the central theme of this thesis work. This project was developed during an internship at Leonardo - Aircraft Division as part of a mutual collaboration between the company and the Politecnico di Torino. First, a UAV model including control systems was developed on MATLAB/Simulink software and, later, an algorithm for flight control of the formation was developed. The presence of a hierarchical order of autonomy between manned and unmanned aircraft directed the choice of a leader-follower control architecture, thus assigning unmanned aircraft the task of autonomously following the leader aircraft while maintaining the formation. A consensus algorithm was used to control flight in formation, the main objective of which is to achieve agreement between the states of the aircraft with the aim of accomplishing a common task. To demonstrate the effectiveness of the developed system a series of maneuver simulations were conducted and illustrated during the writing of the thesis.