Springer Nature is making Coronavirus research free. View research | View latest news | Sign up for updates

Tight formation control of multiple unmanned aerial vehicles through an adaptive control method

This is a preview of subscription content, log in to check access.


  1. 1

    Cao K C. Formation control of multiple nonholonomic mobile robots based on cascade design. In: Proceedings of IEEE Conference on Decision and Control, Shanghai, 2009. 8340–8344

  2. 2

    Fredslund J, Mataric M J. A general algorithm for robot formations using local sensing and minimal communication. IEEE Trans Robotics Autom, 2002, 18: 837–846

  3. 3

    Zhang Y M, Mehrjerdi H. A survey on multiple unmanned vehicles formation control and coordination: normal and fault situations. In: Proceedings of IEEE International Conference on Unmanned Aircraft Systems, Atlanta, 2013. 1078–1096

  4. 4

    Fan Q J, Yang Z, Fang T. Research status of coordinated formation flight control for multi-UAVs. Acta Aeronaut Astronaut Sin, 2009, 30: 683–691

  5. 5

    Binetti P, Ariyur K B, Krstic M, et al. Formation flight optimization using extremum seeking feedback. J Guid Control Dynam, 2003, 26: 132–142

  6. 6

    Dong X W, Yu B C, Shi Z Y, et al. Time-varying formation control for unmanned aerial vehicles: theories and applications. IEEE Trans Contr Syst Tech, 2015, 23: 340–348

  7. 7

    Duan H B, Luo Q, Shi Y, et al. Hybrid particle swarm optimization and genetic algorithm for multi-UAV formation reconfiguration. IEEE Comput Intell Mag, 2013, 8: 16–27

  8. 8

    Ding J, Fan Q. A multi-UAV tight formation flight controller. In: Proceedings of IEEE International Conference on Computer Science and Automation Engineering (CSAE), Zhangjiajie, 2012. 60–64

Download references


This work was supported partially by National Natural Science Foundation of China (Grant No. 61503185) and Opening Foundation of State Key Laboratory of Virtual Reality Technology and Systems of China (Grant No. BUAA-VR-15KF-11).

Author information

Correspondence to Yin Wang.

Additional information

The authors declare that they have no conflict of interest.

Rights and permissions

Reprints and Permissions

About this article

Verify currency and authenticity via CrossMark

Cite this article

Wang, Y., Wang, D. Tight formation control of multiple unmanned aerial vehicles through an adaptive control method. Sci. China Inf. Sci. 60, 070207 (2017). https://doi.org/10.1007/s11432-016-9092-y

Download citation