Formation Control of Multiple Dubins Airplane System with Geometric Approach

Formation Control is very important for multi agent systems (Swarm). This paper analyses control formation on the Dubins airplane that consists of three airplanes, where an airplane as the leader and two other airplanes move to follow leader airplane's track. First, Doing design of leader airplane's controls by using the method of tracking error dynamics. Controls on the leader follow the trajectory tracking that desired. Desired path is in the form of parametric functions. Second, geometric approaches method is used to design two other airplanes, so the move follows path of the airplane as the leader with a certain distance. Simulation result shows that airplane leader can be controlled to the desired path crosses with good results. Therefore, error has been defined as the distance between leader airplane's paths with the desired path while tracking also depends on the shape of path. The more difficult trajectory tracking of airplane also serves as a leader in passing through it. The result of the simulations also indicates that the value of the mean percentage error (MPE) of 26.93 percent. This suggests that the methods used in this study quite effective either used to control design leader or follower.