Mathematical Modeling and Control of Drone Swarm Coordination Using PD Approach

Abstract

This research paper introduces a mathematical model and control framework for coordinating multiple drones (a swarm) using a Proportional–Derivative (PD) control approach grounded in graph theory. Each drone functions as an independent agent, communicating only with its nearby neighbors. This local interaction creates a decentralized and scalable system that eliminates the need for a central controller. The inter-drone connectivity and interactions are represented through the Laplacian matrix, while eigenvalue analysis helps in designing the control gains to ensure smooth and stable motion.The model is formulated using Newton’s equations of motion, expressed through differential equations that describe each drone’s dynamic behavior. The proposed approach is tested on a five-drone ring formation, demonstrating that the drones can maintain formation, avoid collisions, and reach the target position with stable convergence.