Reihane Rahimi - Amirkabir University of Technology
Farzaneh Abdollahi

In this paper, swarming of a set of agents consists of some unmanned aerial vehicles (UAVs) and some unmanned ground vehicles (UGVs) with coherent formation is studied. A decentralizedrobust controller is presented in order to reject the environmental disturbances and prone a rigid formation. Since the disturbanceeffecting UAVs is stronger than the one for UGVs, to tolerate this differences, the error of the neighbours are used by each agent asone of the entered signal of its controller to make the formation synchronized. The decentralized method improves the reliability ofthe performance. This algorithm is applied in simulation and the results approve the accepted performance of the proposed approach

Formation Control, UAV, UGV, Synchronization Motion, Robust Control, Hinf Controller, Graph Theory