Decentralized optimal control for UAV formation forming
Wei Rui-xuan · Flight Dynamics · 2012
In order to form a special formation when the leaderless UAVs maneuver with the undirected communication topology,a decentralized optimal control method based on the neighbors' state feedback is proposed.The Laplacian Matrix is intorduced to discribe the communication topology,and a decentralized optimal control model based on the error between the neighbors' state and the target formation is built.And the decentralized optimal control law is obtained by solving the minimum problem with the linear matrix inequalities(LMI) constrains.This method can guarantee the UAVs form the formation rapidly and precisely,and reach speed and direction consensus with the local information.Simulation results demonstrate the effectiveness of the proposed method.