Abstract
Three dimensional formation control problem of multi-UAV system with communication constraints of non-uniform time delays and jointly-connected topologies is investigated. No explicit leader exists in the formation team, and, therefore, a consensus-based distributed formation control protocol which requires only the local neighbor-toneighbor information between the UAVs is proposed for the system. The stability analysis of the proposed formation control protocol is also performed. The research suggests that, when the time delay, communication topology, and control protocol satisfy the stability condition, the formation control protocol will guide the multi-UAV system to asymptotically converge to the desired velocity and shape the expected formation team, respectively. Numerical simulations verify the effectiveness of the formation control system.
Highlights
With the development of computer control, sensors, communication network etc., many researches on the formation flight control have been performed
Multi-UAV formation flight control has become a hot topic in UAV field
In reality, the time delay usually exists due to transmission rate and network congestion, and the communication topology of the multi-UAV system will be changed owing to communication jamming, complex terrain, limitation of communication distance etc
Summary
With the development of computer control, sensors, communication network etc., many researches on the formation flight control have been performed. Most of the formation flight researches are performed based on the leader-follower approach, where some UAVs are designed as leaders while others are designed as followers (Ren 2007; Giulietti et al 2000). The problem of multi-UAV cooperative formation flight control based on consensus protocol has drawn substantial research effort from many studies (Kuriki and Namerikawa 2013; Menon 1989; Ren 2006; Seo et al 2012). In reality, the time delay usually exists due to transmission rate and network congestion, and the communication topology of the multi-UAV system will be changed owing to communication jamming, complex terrain, limitation of communication distance etc It is of great significance in both theory and application to investigate cooperative formation flight control by considering time delay and changing topology. The related variables are defined with respect to the inertial coordinate system and are shown in Fig. 1 (Wang and Xin 2012)
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