Abstract
AbstractMulti-UAV formation flight means that multiple UAVs keep flying in a certain formation. The multi-UAV formation has higher reliability and can increase the mission success rate Formation control is the prerequisite for the formation to complete the specified tasks safely and efficiently. Considering the communication interference, network congestion, the article studies the formation model in case of communication delay and switching topology, and then designs the control protocol. Considering the requirements during UAV flight and the features of the motion model, the three degrees of freedom kinematics equation of the UAV is given by using the autopilot model of longitudinal and lateral decoupling. Acceleration, velocity, and angular velocity constraints in all directions are defined according to the requirements of flight performance and maneuverability. The control protocol is adjusted according to the constraints. The results of the simulation show that the improved formation control protocol can quickly converge the UAV formation state to the specified value and maintain the specified formation in the presence of communication delay and switching topology.KeywordsFormation controlConsistency theoryCommunication delayConstraints
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