Journal of Intelligent & Robotic Systems

, Volume 74, Issue 1–2, pp 333–346 | Cite as

Cooperative Control of Multiple UAVs for Moving Source Seeking

  • Senqiang Zhu
  • Danwei Wang
  • Chang Boon Low


Advances in multi-agent technologies and UAV technologies make it possible to take advantage of cooperation of multiple UAVs for source seeking. This paper focuses on moving source seeking using multiple UAVs with input constraints. Firstly, a least-squares method is introduced to estimate the gradient of the scalar field at the leader UAV location based on the measurements of all UAVs. Since the moving source velocity is unknown, an adaptive estimator is designed to obtain the velocity. Based on the estimated gradient and source velocity, a guidance law and a sliding mode based heading rate controller are proposed for the leader UAV to achieve level tracking. Heading rate controller for each follower UAV is also developed to achieve circular formation around the leader UAV. Furthermore, the gradient estimation error is analyzed and its influence on moving source velocity estimation and level tracking accuracy is explored as well. Finally, simulation results are provided to verify the proposed approach.


UAV Source seeking Formation control Adaptive estimation 


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Copyright information

© Springer Science+Business Media Dordrecht 2013

Authors and Affiliations

  1. 1.EXQUISITUS, Centre for E-City, School of Electrical and Electronic EngineeringNanyang Technological UniversitySingaporeSingapore
  2. 2.DSO National Laboratories, INFO Division, Manned-Unmanned ProgrammeSingaporeSingapore

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