Quadrotor UAV Formation High-Order Consistency Formation Control
Xiaomin Zhang, Haoyu Shi · 2019 2nd World Conference on Mechanical Engineering and Intelligent Manufacturing (WCMEIM) · 2019
In this paper, the directed graph is used to model the formation topological relationship, and the formation formation control problem is transformed into the consistency error convergence problem. A formation formation control method is proposed, which is proved by graph theory knowledge and Lyapunov stability theorem. The consistency error of the control system asymptotically converges, and the effectiveness of the formation control method is verified by simulation.