Abstract
AbstractThis paper mainly studies the delay-based feedback formation control problem with feedforward components for multiple unmanned aerial vehicles (UAVs) system. First, the kinematic equation of the leader-follower UAVs formation system with regard to three directions is established, and the communication network topology between UAVs is presented. Second, by intentionally introducing time-delay into feedback control channel, a delay-based feedback formation control scheme with feedforward components is proposed for the multiple UAVs system. The sufficient conditions of asymptotical stability of closed-loop system are derived based on the linear matrix inequality (LMI) theory, and the design method of the delayed formation controller is presented. The effectiveness of this control scheme is verified based on simulation results, which show that under the designed formation controller, the formation performance of the multiple UAVs system can be guaranteed effectively.KeywordsMultiple agentsUAVFormation controlLeader-followerDelay feedback
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