Consensus Control of Multi-UAV Systems Based on Linear State Estimation with Switching Topologies
Junjie Yu, Hongzhong Ma, Changlin Liu, Ping Wang, Yang Luo · 2019 IEEE International Conference on Unmanned Systems (ICUS) · 2019
This paper studies the leader-following consensus control problem with switching topologies for multi-UAV systems. In particular, the communication network is a broadcast framework working on a Single-Transmitter-Multiple-Receivers (STMR) mode, which gives rise to a large time delay related to the number of UAVs in information exchange. Considering the large time delay, the basic consensus control protocol is hard to converge. Therefore, a new consensus control protocol combined with linear state estimation is given for the broadcast network, and a sufficient robustly-stable condition to achieve consensus tracking is presented. Finally, an example of numerical simulation is given to demonstrate the effectiveness of the proposed protocol.