Distributed integral control of multiple UAVs: precise flocking and navigation

The authors interest in this work is to perform a precise real‐time flocking of multiple unmanned aerial vehicles (UAVs). A consensus‐based flocking algorithm that ensures a precise security distance between UAVs is proposed. By using Lyapunov theoretical analysis, the authors propose a flocking algorithm that ensures the ultimate boundedness of multiple‐UAV system solutions. Moreover, this algorithm is enhanced by a distributed integral control that renders the inter‐distances between UAVs more precise. Finally, experimental results are provided to prove and show the efficiency of these algorithms.