Abstract
In this paper, formation keeping control of unmanned aerial vehicles (UAVs) based on multi-agent system consensus is studied. Firstly, a leader–following model based multiple unmanned aerial vehicles’ (multi–UAVs’) formation system is proposed. In which, every UAV has a heading keep autopilot as standard flight controller, and the heading control signal is transmitted by a nonlinear feedback controller with time delays. Secondly, some criteria of stability and Hopf bifurcation conditions for the equilibrium point of the leader UAV are established by using the Routh–Hurwitz criterion. Then, the consensus protocol is designed. A model prediction controller is introduced to make followers predict the leader’s status and maintain a relative position in the formation, and eventually reach a consensus with the leader. Finally, some simulation examples are given to verify the correctness of the conclusions.
Highlights
In recent years, unmanned aerial vehicles (UAVs) technology and its industry have developed rapidly and have been widely used in various fields
Regardless of military career or civilian market, the breakthrough in technical of UAV means a significant increase in work efficiency [4]–[6]
PRELIMINARIES Let G = (ν, A) a graph consisted by node sets ν = {ν0, ν1, ν2, . . . , νN } and edge sets ⊆ ν × ν [33], [34]
Summary
UAV technology and its industry have developed rapidly and have been widely used in various fields. More research results produce that model predictive control can be effectively applied in the leader–following multi–UAVs’ formation problem. It can make the following UAVs advance estimate the leader’s flight status, and each UAV updates its flight status that final all UAVs reach to an expectation formation [25]–[27]. The above–obtained results make followers predicts the motion status of leader, and the UAVs’ formation shape kept in a stable status This completes the research of UAVs’ bifurcation consensus problems. This paper is organized as follows: Section II gives some preparatory works, and a leader–following system based multi–UAVs control model established.
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