Flight Control Strategy for Distributed UAV Formation under the Conditions of Bounded Time-varying Delay andJointly-connected Topology

doi:10.3969/j.issn.1000-1093.2019.06.008

Abstract

Abstract: A consistency theory-based distributed formation control strategy is proposed for the multi-UAVs with nonlinear dynamic characteristics, in which the communication delay is changed in bounded interval and the network topology is jointly-connected. The Lyapunov-Krasovskii function is used to analyze the formation stability and deduce its sufficient conditions. The derivative characteristic of time-delay is not considered, and the high dimensional matrix solution of communication topology is transformed into low dimensional matrix solution with several connected parts. The proposed strategy has the advantages of wide applicability, low computational cost and excellent real-time performance. The effectivity of the proposed method in the cases of nonlinear fast-varying and random hopping delays was verified through simulation experiment. Experimental results show that the proposed strategy can be used to direct the multi-UAVs to assemble and converge to any symmetric or asymmetric target formation with scheduled speed. Key

Key words: UAVformation, time-varyingdelay, switchingtopology, formationcontrol

CLC Number:

V249.122⁺.3

LI Xiaomin， MAO Qiong， GAN Qintao， DU Zhanlong. Flight Control Strategy for Distributed UAV Formation under the Conditions of Bounded Time-varying Delay andJointly-connected Topology[J]. Acta Armamentarii, 2019, 40(6): 1179-1189.

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第40卷第6期
2019 年6月兵工学报ACTA
ARMAMENTARIIVol.40No.6Jun.2019

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