UAVs’ Formation Keeping Control Based on Multi–Agent System Consensus

In this paper, formation keeping control of unmanned aerial vehicles (UAVs) based on multi-agent system consensus is studied. Firstly, a leader–following model based multiple unmanned aerial vehicles’ (multi–UAVs’) formation system is proposed. In which, every UAV has a heading keep autopilot as standard flight controller, and the heading control signal is transmitted by a nonlinear feedback controller with time delays. Secondly, some criteria of stability and Hopf bifurcation conditions for the equilibrium point of the leader UAV are established by using the Routh–Hurwitz criterion. Then, the consensus protocol is designed. A model prediction controller is introduced to make followers predict the leader’s status and maintain a relative position in the formation, and eventually reach a consensus with the leader. Finally, some simulation examples are given to verify the correctness of the conclusions.