Multi-model fuzzy formation control of uav quadrotors

Abdul Wahid A. Saif, Mohammad Ataur-Rahman, Sami Elferik, Muhammad F. Mysorewala, Mujahed Al-Dhaifallah*, Fouad Yacef

*Corresponding author for this work

Research output: Contribution to journalArticlepeer-review

5 Scopus citations


In this paper, the formation control problem of a group of unmanned air vehicle (UAV) quadrotors is solved using the Takagi–Sugeno (T–S) multi-model approach to linearize the nonlinear model of UAVs. The nonlinear model sof the quadrotor is linearized first around a set of operating points using Taylor series to get a set of local models. Our approach’s novelty is in considering the difference between the nonlinear model and the linearized ones as disturbance. Then, these linear models are interpolated using the fuzzy T–S approach to approximate the entire nonlinear model. Comparison of the nonlinear and the T–S modelshows a good approximation of the system. Then, a state-feedback controller is synthe-sized utilizing the parallel distributed compensation (PDC) concept. The linear quadratic regulator (LQR) controller is used to stabilize the system and obtain the desired response. This is followed by the formation control of a set of quad-rotors using the leader–follower method. In this strategy, the potential field method is utilized to obtain the ideal shape formations. An attractive potential is generated such that the followers are attracted towards the leader, and a repulsive potential is generated that repels adjacent quadrotors to avoid collisions. Simula-tions are performed to evaluate the proposed method’s effectiveness in obtaining the desired shape formation for different cases. From the simulation results, we can see that the proposed formation control results in a good tracking response.

Original languageEnglish
Pages (from-to)817-834
Number of pages18
JournalIntelligent Automation and Soft Computing
Issue number3
StatePublished - 2021

Bibliographical note

Publisher Copyright:
© 2021, Tech Science Press. All rights reserved.


  • Formation control
  • Fuzzy logic control
  • Multi-models
  • Nonlinear systems UA quadrotor

ASJC Scopus subject areas

  • Software
  • Theoretical Computer Science
  • Computational Theory and Mathematics
  • Artificial Intelligence


Dive into the research topics of 'Multi-model fuzzy formation control of uav quadrotors'. Together they form a unique fingerprint.

Cite this