Consensus-Based control for unmanned aerial vehicle formation with speed adaptability
Hongmei Zhang, Ying Li, Guangyan Xu · 2018
This paper presents a distributed control method based on consistency control for unmanned aerial vehicles (UAVs) formation flight in three-dimensional space. Aiming at leader-follower model, an elastic distance vector is designed based on the positional relation between the leader and followers and the instantaneous velocity of UAV, which gives the formation speed adaptability. What's more, a consensus control protocol including communication gain and feedback gain is proposed for the formation. Simulation results verify the correctness and validity of the given controller and show the feasibility and operability of the elastic formation method.