Communication and Control Co-design for Distributed UAV Formation
Yuqi Ping, Tianhao Liang, Huahao Ding, Tingting Zhang · 2024
This article presents a distributed optimal control method to achieve formation control with obstacle avoidance and connectivity maintenance of unmanned aerial vehicles (UAVs). Specifically, a control Lyapunov function (CLF) consisting of information from neighbors is constructed to guarantee the asymptotic stability of the UAV formation. Then, obstacle avoidance and connectivity maintenance are achieved using the control barrier function (CBF), where the UAV control has been considered under limited communication power constraints. Simulation experiments demonstrate that the proposed method can realize effective formation control and communication power allocation.