A new fast consensus algorithm applied in rendezvous of multi-UAV
Wei Xu, Fengyang Duan, Zhang Qingjie, Bing Zhu, Hongchang Sun · 2015
Consistent state of the system is the basis of reaching the target area at the same time in rendezvous of multi-UAV, and consensus algorithm is an effective method of multi-UAV system to achieve a consistent state. In order to shorten the convergence time of system state, on the base of the mathematical model of multi-UAV rendezvousing problem, the basic consensus algorithm and the consensus algorithm based on the past state difference have been improved. A new fast consensus algorithm was designed with a parameter, and theorems about efficiency and convergence of the new algorithm were mathematically proved. Simulation results verify the effectiveness and feasibility of the new algorithm.