![]() IEEE Trans Control Syst Technol 23(1): 340-348. (2014) Dong X, Yu B, Shi Z (2014) Time-varying formation control for unmanned aerial vehicles: theories and applications. proposed a consensus-based formation flight control protocol and proved that the multi-UAV system can form and maintain a geometric formation flight with the network topology switching between a directed strongly-connected topology and a topology with a spanning tree. Proceedings of the AIAA Aerospace Conference Seattle, USA. Seo (2009) Seo J (2009) Controller design for UAV formation flight using consensus-based decentralized approach. doi: 10.1049/iet-cta:20050401Įxtended a consensus protocol, which is introduced for systems modelled by second-order dynamics, to tackle multi-UAV formation control problems by appropriately choosing information states on which consensus is reached. Ren (2007) Ren W (2007) Consensus strategies for cooperative control of vehicle formations. 2012 Seo J, Kim Y, Kim S, Tsourdos A (2012) Consensus-based reconfigurable controller design for unmanned aerial vehicle formation flight. Proceedings of the American Control Conference Minnesota, USA. Ren 2006 Ren W (2006) Consensus-based formation control strategies for multi-vehicle systems. Menon 1989 Menon PKA (1989) Short-range nonlinear feedback strategies for aircraft pursuit-evasion. Proceedings of the SICE Annual Conference Nagoya, Japan. In recent years, the problem of multi-UAV cooperative formation flight control based on consensus protocol has drawn substantial research effort from many studies ( Kuriki and Namerikawa 2013 Kuriki Y, Namerikawa T (2013) Consensus-based cooperative control for geometric configuration of UAVs flying in formation. However, the leader is a single point for the formation, and therefore this approach is not robust with respect to the leader failure. It is easy to analyze and implement the leader-follower controller. In this approach, the leaders track the predefined trajectory, and the followers track the nearest leaders according to given schemes. 2000 Giulietti F, Pollini L, Innocenti M (2000) Autonomous formation flight. Most of the formation flight researches are performed based on the leader-follower approach, where some UAVs are designed as leaders while others are designed as followers ( Ren 2007 Ren W (2007) Consensus strategies for cooperative control of vehicle formations. In earlier years, typical approaches for formation control could be roughly categorized as leader-follower, behavioral, virtual leader/virtual structure. Therefore, multi-UAV formation flight control has become a hot topic in UAV field. 2012 Cao Y, Yu W, Ren W, Chen G (2012) An overview of recent progress in the study of distributed multi-agent coordination. ![]() Multi-UAV coordinated formation control has overwhelming superiority in high efficiency in performing tasks, low cost of fuel, strong robustness and more flexibility compared with single UAV ( Ren and Beard 2008 Ren W, Beard RW (2008) Distributed consensus in multi-vehicle cooperative control London: Springer. This is because various missions can be successfully completed by the formation flight, such as battlefield reconnaissance, multi-target attacking, environment monitoring and earthquake rescue and so on. Recently, with the development of computer control, sensors, communication network etc., many researches on the formation flight control have been performed. Three dimensional formation control Jointly-connected topologies Multi-UAV system Non-uniform time delays Consensus protocol Numerical simulations verify the effectiveness of the formation control system. The research suggests that, when the time delay, communication topology, and control protocol satisfy the stability condition, the formation control protocol will guide the multi-UAV system to asymptotically converge to the desired velocity and shape the expected formation team, respectively. The stability analysis of the proposed formation control protocol is also performed. No explicit leader exists in the formation team, and, therefore, a consensus-based distributed formation control protocol which requires only the local neighbor-toneighbor information between the UAVs is proposed for the system. Three dimensional formation control problem of multi-UAV system with communication constraints of non-uniform time delays and jointly-connected topologies is investigated.
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