In the last decade the development and control of Unmanned
Aerial Vehicles (UAVs) has attracted a lot of interest. Both
researchers and companies have a growing interest in improving this
type of vehicle given their many civilian and military
applications.

This book presents the state of the art in the area of UAV Flight
Formation. The coordination and robust consensus approaches are
presented in detail as well as formation flight control strategies
which are validated in experimental platforms. It aims at helping
students and academics alike to better understand what coordination
and flight formation control can make possible.

Several novel methods are presented:

- controllability and observability of multi-agent systems;

- robust consensus;

- flight formation control;

- stability of formations over noisy networks;

which generate solutions of guaranteed performance for UAV Flight
Formation.

Contents

1. Introduction, J.A. Guerrero.

2. Theoretical Preliminaries, J.A. Guerrero.

3. Multiagent Coordination Strategies, J.A. Guerrero, R. Lozano,
M.W. Spong, N. Chopra.

4. Robust Control Design for Multiagent Systems with Parametric
Uncertainty, J.A. Guerrero, G. Romero.

5. On Adaptive and Robust Controlled Synchronization of Networked
Robotic Systems on Strongly Connected Graphs, Y.-C. Liu, N.
Chopra.

6. Modeling and Control of Mini UAV, G. Flores Colunga, J.A.
Guerrero, J. Escareño, R. Lozano.

7. Flight Formation Control Strategies for Mini UAVs, J.A.
Guerrero.

8. Formation Based on Potential Functions, L. García, A.
Dzul.

9. Quadrotor Vision-Based Control, J.E. Gomez-Balderas, J.A.
Guerrero, S. SALAZAR, R. Lozano, P. Castillo.

10. Toward Vision-Based Coordination of Quadrotor Platoons, L.R.
García Carrillo, J.A. Guerrero, R. Lozano.

11. Optimal Guidance for Rotorcraft Platoon Formation Flying in
Wind Fields, J.A. Guerrero, Y. Bestaoui, R. Lozano.

12. Impact of Wireless Medium Access Protocol on the Quadrotor
Formation Control, J.A. Guerrero, Y. Challal, P. Castillo.

13. MAC Protocol for Wireless Communications, A. Mendez, M.
Panduro, O. Elizarraras, D. Covarrubias.

14. Optimization of a Scannable Pattern for Bidimensional Antenna
Arrays to Provide Maximum Performance, A. Reyna, M.A. Panduro, A.
Mendez.

José Alfredo Guerrero joined the Department of Electronic Engineering at the University Autonomous of Tamaulipas (UAT), Mexico in 2000 where he worked until 2006. His research interests are in the analysis and synthesis of multi-agent coordination control and nonlinear control with applications to Unmanned Aerial Vehicles, Autonomous Underwater Vehicles and robust and optimal control.

Rogelio Lozano, after holding various positions, including visiting positions at the University of Newcastle in Australia, NASA Langley Research Center, VA, and LAG in France, has been the head of the UMI 3175 LAFMIA at CINVESTAV Mexico since April 2008. He has been a CNRS Research Director since 1990 and acted as Associate Editor for Automatica and Int. J. of Adaptive Control and Signal Processing.

In the last decade the development and control of Unmanned Aerial Vehicles (UAVs) has attracted a lot of interest. Both researchers and companies have a growing interest in improving this type of vehicle given their many civilian and military applications.
This book presents the state of the art in the area of UAV Flight Formation. The coordination and robust consensus approaches are presented in detail as well as formation flight control strategies which are validated in experimental platforms. It aims at helping students and academics alike to better understand what coordination and flight formation control can make possible.
Several novel methods are presented:
- controllability and observability of multi-agent systems;
- robust consensus;
- flight formation control;
- stability of formations over noisy networks;
which generate solutions of guaranteed performance for UAV Flight Formation.

Contents

1. Introduction, J.A. Guerrero.
2. Theoretical Preliminaries, J.A. Guerrero.
3. Multiagent Coordination Strategies, J.A. Guerrero, R. Lozano, M.W. Spong, N. Chopra.
4. Robust Control Design for Multiagent Systems with Parametric Uncertainty, J.A. Guerrero, G. Romero.
5. On Adaptive and Robust Controlled Synchronization of Networked Robotic Systems on Strongly Connected Graphs, Y.-C. Liu, N. Chopra.
6. Modeling and Control of Mini UAV, G. Flores Colunga, J.A. Guerrero, J. Escareño, R. Lozano.
7. Flight Formation Control Strategies for Mini UAVs, J.A. Guerrero.
8. Formation Based on Potential Functions, L. García, A. Dzul.
9. Quadrotor Vision-Based Control, J.E. Gomez-Balderas, J.A. Guerrero, S. SALAZAR, R. Lozano, P. Castillo.
10. Toward Vision-Based Coordination of Quadrotor Platoons, L.R. García Carrillo, J.A. Guerrero, R. Lozano.
11. Optimal Guidance for Rotorcraft Platoon Formation Flying in Wind Fields, J.A. Guerrero, Y. Bestaoui, R. Lozano.
12. Impact of Wireless Medium Access Protocol on the Quadrotor Formation Control, J.A. Guerrero, Y. Challal, P. Castillo.
13. MAC Protocol for Wireless Communications, A. Mendez, M. Panduro, O. Elizarraras, D. Covarrubias.
14. Optimization of a Scannable Pattern for Bidimensional Antenna Arrays to Provide Maximum Performance, A. Reyna, M.A. Panduro, A. Mendez.

Chapter 1. Introduction 1
J.A. GUERRERO

1.1. Motivation 1

1.2. Historical background 4

1.3. Flight control 9

1.4. Flight formation control 11

1.5. Outline of the book 13

1.6. Bibliography 15

Chapter 2. Theoretical Preliminaries 19
J.A. GUERRERO

2.1. Passivity 19

2.2. Graph theory 20

2.3. Robustness problems 21

2.4. Bibliography 25

Chapter 3. Multiagent Coordination Strategies 27
J.A. GUERRERO, R. LOZANO, M.W. SPONG, N. CHOPRA

3.1. Introduction 28

3.2. Controllability and observability of interconnections 28

3.3. Formation leader tracking 37

3.4. Time-varying trajectory tracking 40

3.5. Linear high-order multiagent consensus 44

3.6. Conclusion 49

3.7. Bibliography 50

Chapter 4. Robust Control Design of Multiagent Systems with Parametric Uncertainty 51
J.A. GUERRERO, G. ROMERO

4.1. Introduction 52

4.2. Robust control design 54

4.3. Robust stability analysis 56

4.4. Robust stability of time-delay systems 61

4.5. Application to multiagent systems 62

4.6. Conclusions 73

4.7. Bibliography 73

Chapter 5. On Adaptive and Robust Controlled Synchronization of Networked Robotic Systems on Strongly Connected Graphs 75
Y.-C. LIU, N. CHOPRA

5.1. Summary 75

5.2. Introduction 75

5.3. Problem formulation 77

5.4. Adaptive controlled synchronization on strongly connected graphs 79

5.5. Robust controlled synchronization on strongly connected graph 83

5.6. Numerical examples 87

5.7. Conclusions 93

5.8. Appendix 94

5.9. Bibliography 95

Chapter 6. Modeling and Control of Mini UAV 99
G. FLORES COLUNGA, J.A. GUERRERO, J. ESCAREÑO, R. LOZANO

6.1. Introduction 99

6.2. General model 101

6.3. Control of a mini tailsitter 103

6.4. Quad-tilting rotor convertible MAV 117

6.5. Concluding remarks 131

6.6. Bibliography 132

Chapter 7. Flight Formation Control Strategies for Mini UAVs 135
J.A. GUERRERO

7.1. Introduction 135

7.2. Formation geometry 137