Cooperative Control of UAV Cluster Formation Based on Distributed Consensus

Aiming at the main problems of assembly, formation maintenance and formation transformation in UAV cluster formation control, the distributed consistency method is used to design and simulate the control algorithm. Firstly, under the determined communication topology, the assembly control, formation route and speed tracking control of UAV formation based on distributed consensus control algorithm are implemented. Then the convergence conditions of distributed consensus control algorithm under the condition of communication topology transformation is analyzed, and a cluster formation transformation based on consensus control algorithm is designed and implemented. The simulation results show that the distributed consensus-based control algorithm can complete the operation of the UAV cluster formation, maintenance, and formation transformation.