Paper Title
Leader-Follower Formation Controller Based on Feedback Mechanism

This paper presents an improved leader-follower formation controller for multi-UAVs formation flight. Sometimes followers are unable to follow the leader ideally because of the drags of wind field and limitations of UAVs themselves. There is also a chance of collision between UAVs. These limitations include equipment constraints and controller performance constraints. Control law for leader is added which significantly improves the traditional leader-follower control structure. The objective of control law is to make each vehicle follow its trajectory and avoid collision between follower and its leader. Simulation results show that improved control structure has more efficient performance to keep formation stable than the traditional leader-follower control structure. Even when wind field has caused some negative effects on flight formation, our proposed algorithm performed better. Keywords - Unmanned Aerial Vehicles (UAV), Leader-Follower Formation, Feedback Mechanism, Flight Control