Abstract
To solve the problem of formation grouping and group consensus, a Fuzzy C-Means clustering algorithm for grouping decision and a new kind of group consensus are proposed. Firstly, the multi-UAV formation dynamics and grouping process are described by using the graph theory, then, the grouping decision of the multiple unmanned combat aerial vehicles (multi-UAV) formation is made based on the Fuzzy C-Means clustering algorithm considering key elements in the warfare. Meanwhile, a group-consensus with information communication between different sub-formations is put forward. The judgement criterion for the consensus stability is proved by using the Lyapunov theorem. Simulation results demonstrate the superiority and effectiveness of clustering algorithm and group consensus.
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