Research on Cooperative Formation Flight Control of Multi-UAV with Communication Time Delay
Peibei Ma, Jun Ji, Jiangbo Sui, Ming Lei · 2021
Time delay is an unavoidable problem in formation control of multi-UAV system. It is of great theoretical value to study the influence of time delay on formation and system stability of UAV system. This paper focuses on the multi-UAV cooperative formation control problem with equal communication delay, and obtains the stability conditions of the system. Firstly, the cooperative formation control rate with equal communication delay is designed, and the closed-loop delay state equation of multi-UAV formation system is obtained. Secondly, considering the uncertainty of the system model, the delay dependent stability condition of the system is obtained based on the linear matrix inequality (LMI) theory. Finally, the simulation results show that the multi-UAV formation system is stable and the desired formation can be formed and maintained.