The Root-Mean-Square Velocity Stabilization of Swarm Multicopters Interacted by the Thermal Motion Equivalent Method

The paper considers the problem of designing a regulator for a multicopter agent. Swarm control is organized by the thermal motion equivalent method. The idea of the method is the organization of the swarm agents' behavioral similarity to the atoms' thermal motion. This method makes it quite easy to organize the swarm agents' interaction and effectively solve problems: exploration issue in unknown environment, formation, tracking an object, mutual positioning of swarm agents. The key problem with the thermal motion equivalent method is the stabilization of the multicopter RMS velocity over time. Spontaneous growth or decrease in the agents' speed can lead to loss of swarm system controllability and mission failure. The paper proposes to synthesize a control system based on a linearized quadcopter model, which provides positional test oscillation stability of the aircraft to solve the above problem. The static state controller synthesized by the LMI method is used. Nonlinear model motion numerical simulation of a single UAV in a closed space is carried out in the paper. The results show the undamped multicopter oscillations. Multiple quadcopters are simulated in a confined space. The results show that the RMS agents' velocity does not change over time, which was required.