Synchronized UAV Group Flight Control under Data Rate Limitations and Actuator Saturation

This work specifically addresses the challenges associated with information transfer between agents in pursuit of desired control objectives. Seamless communication is crucial, especially during formation synchronization, as delays can lead to disintegration. Additionally, large-scale systems may face string or mesh instability, where state deviations increase. This work aims to advance decentralized control in multi-agent systems with complex information graph structures, considering nonlinear limitations on the control signal. A sequential nonlinear corrective unit is employed to mitigate this effect. The present study incorporates data rate limitations on information exchange between UAVs in formation. An adaptive coding/decoding procedure is utilized for data transfer, and the minimal data transmission rate required for maintaining formation stability is numerically evaluated.