Abstract
AbstractBased on the broad application prospects and unprecedented theoretical challenges, multiple UAVs (Unmanned Aerial Vehicles) cooperative control has become a research hotspot in many fields. Among them, the formation control is one of the most important research topics in the cooperative control of multiple UAVs. In this brief, a class of multiple UAVs systems with uncertain disturbances is studied. The distributed union control algorithm of collision avoidance formation based on edge Laplacian consensus and artificial potential field respectively is given. Firstly, six-state UAV's model is transformed by the feedback linearization method. Secondly, formation is converted into the consensus problem, which can be turned into the stabilization problem with edge Laplacian method. The collision avoidance is realized by using the artificial potential field method. The distributed formation collision avoidance algorithm is given. Finally, simulation results prove the effectiveness of the algorithm.KeywordsMultiple UAVs systemsFormation controlConsensusEdge laplacianArtificial potential field
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