Research on Consensus Control of UAVs Formation in Distributed Network

Abstract

For the research on consensus control of multi-agent systems formation in distributed network, aiming at the problem that communication delay effects may arise naturally which may destabilize a stable system, most researchers study on the performance of multi-agent systems with communication delay and the algorithms of delay robust control. However, in these studies, the researchers did not comprehensively consider network protocols, cooperative control mechanisms and application scenarios to design the system globally, so the results have serious limitation. In this paper, we take the typical application scenario, battlefield, as the background environment, we selected appropriate network protocols and cooperative control mechanisms based on scene analysis. Further, we build the communication delay model based on the cooperative control mechanisms and network protocols, and then, we design delay robust mechanism based on the delay model. Finally, we propose the two-hop cooperative control mechanisms oriented to the constraints of application scenario and network model, and we complete the stability analysis. The numerical examples and experiment are provided to illustrate the correctness of the results.