Research on Distributed Multi-vehicle Coordinated Formation Flight Control with Coupling Time-delay and Jointly-connected Topologies

doi:10.3969/j.issn.1000-1093.2015.03.017

Abstract

Abstract: A distributed formation control algorithm is proposed based on consensus theory for multi-vehicle nonlinear system model with simple kinetics characteristics coupling time-delay and jointly-connected topologies. System stability of multi-vehicle system with time delay is analyzed by using Lyapunov-Krasovskii function, and the stability sufficient condition in terms of LMIs is given. The simulation examples are used to verify the effectiveness of the control algorithm. When the stability condition of time delay, control parameters and network topology is satisfied, the formation control algorithm guide the multi-vehicle system asymptotically to converge to the desired velocity and shape the desired formation.

Key words: control science and technology, formation control, jointly-connected topology, multi-vehicle system, time-delay, consensus protocol

CLC Number:

V249

XUE Rui-bin, SONG Jian-mei, ZHANG Min-qiang. Research on Distributed Multi-vehicle Coordinated Formation Flight Control with Coupling Time-delay and Jointly-connected Topologies[J]. Acta Armamentarii, 2015, 36(3): 492-502.

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