Hierarchic Stabilization of Flying Convex-Path-Following Formations Part I: Fully-Actuated Agents

Abstract

Abstract The paper presents a hierarchical approach for distributed stabilization of a class of flying formations. The agents are considered as rigid bodies in three-dimensional space. The formation is composed of three aspects: a path following aspect where the agents are required to follow similar smooth Jordan paths that are strictly convex; and two geometric aspects that specify the desired relative displacements of the paths, and the relative positions of the agents on these paths. The solution is based on tools of set stabilization and reduction. The modularity of the approach allows for achieving multiple specifications simultaneously, and for extending, in Part II of this paper, the solution to handle underactuation. The solution is illustrated through simulations, and the relevance of the results in aerial and space vehicles applications is discussed.