Abstract
This paper deals with an experimental validation of a formation control algorithm for a multi-UAV(Unmanned Aerial Vehicle) system by using LMI(Linear Matrix Inequality) conditions. First, we show a linearized model of UAVs like quadrotors, and then, we introduce a formation control algorithm based on a consensus algorithm, a leader-follower structure, graph theory and Lyapunov stability theorem for a liner system. Second, we show the control algorithm using Lyapunov theorem and LMI conditions in the case of intermittent communication. Then, experimental results show the stability of the proposed formation control even if some network links are disconnected.
