Control of a multi-UAV system in string-like flight in 3D space

The paper suggests a control algorithm for trajectory tracking for a group of Unmanned Aerial Vehicles (UAVs) that flies in a string-like formation in 3D space. The proposed controller is based on hyperbolic functions and guarantees the string stability property of the group. We implement a control law under physical constraints and avoid singularities during the process. To illustrate the nature of the controller and its capabilities, numerical results and simulations are presented.