Article: Distributed collaborative control of unmanned aerial vehicle formation based on fuzzy autocoupling PID algorithm Journal: International Journal of Systems, Control and Communications (IJSCC) 2026 Vol.17 No.10 pp.1 - 18 Abstract: In order to solve the problems of high total variation and high TV value in traditional control methods, a distributed collaborative control method of unmanned aerial vehicle formation based on fuzzy autocoupling PID algorithm is proposed. A nonlinear dynamic model of quadcopter unmanned aerial vehicles was established, and a virtual spring damping network was introduced to construct an elastic constrained unmanned aerial vehicle formation system model. This model can describe the compliant deformation and autonomous recovery capability of the formation. A multi parameter fuzzy auto coupled PID distributed controller is designed to address the complex control problem of coupling and superposition between internal dynamics and external formation in the model, thereby enhancing the adaptive and decoupling capabilities of the controller. Experimental results show that the proposed method can significantly reduce the total variation of control inputs, with the highest TV value being only 39.2, demonstrating better control smoothness and superiority. Inderscience Publishers - linking academia, business and industry through research

Title: Distributed collaborative control of unmanned aerial vehicle formation based on fuzzy autocoupling PID algorithm

Authors: Yijin Cheng

Addresses: School of Aeronautical Engineering, Henan Forestry Vocational College, Luoyang 471000, Henan, China

Abstract: In order to solve the problems of high total variation and high TV value in traditional control methods, a distributed collaborative control method of unmanned aerial vehicle formation based on fuzzy autocoupling PID algorithm is proposed. A nonlinear dynamic model of quadcopter unmanned aerial vehicles was established, and a virtual spring damping network was introduced to construct an elastic constrained unmanned aerial vehicle formation system model. This model can describe the compliant deformation and autonomous recovery capability of the formation. A multi parameter fuzzy auto coupled PID distributed controller is designed to address the complex control problem of coupling and superposition between internal dynamics and external formation in the model, thereby enhancing the adaptive and decoupling capabilities of the controller. Experimental results show that the proposed method can significantly reduce the total variation of control inputs, with the highest TV value being only 39.2, demonstrating better control smoothness and superiority.

Keywords: fuzzy autocoupling PID algorithm; unmanned aerial vehicle formation; distributed collaborative control; virtual spring damping network.

DOI: 10.1504/IJSCC.2026.157099

International Journal of Systems, Control and Communications, 2026 Vol.17 No.10, pp.1 - 18

Received: 26 Jan 2026
Accepted: 31 Aug 2026
Published online: 19 Oct 2026 *

Title: Distributed collaborative control of unmanned aerial vehicle formation based on fuzzy autocoupling PID algorithm

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