Fractional Order Darwinian Pigeon-Inspired Optimization for Multi-UAV Swarm Controller

This paper presents a novel multiple unmanned aerial vehicle (UAV) swarm controller based on the fractional calculus theory. This controller is designed based on fractional order Darwinian pigeon-inspired optimization (FODPIO) and PID algorithm. Several comparative simulations are conducted in the paper. The simulation results reveal that FODPIObased multi-UAV formation controller is superior to the basic PIO and differential evolution (DE) method. The fractional coeffcient in FODPIO algorithm makes it effective optimization with fast convergence rate, small overshoot, and better stability. Therefore, the controller proposed in this paper is feasible and robust.