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Formation control of multiple UAVs with communication delays

  • ZHOU Shaolei ,
  • KANG Yuhang ,
  • GUO Zhiqiang ,
  • LI Songlin ,
  • QI Yahui
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  • Department of Control Engineering, Naval Aeronautical and Engineering University, Yantai 264001, China 82

Received date: 2016-12-15

  Revised date: 2017-03-06

  Online published: 2017-04-18

Abstract

This paper proposes a formation control algorithm based on the consensus theory for a multi-agent system model of secondorder dynamic characteristic in the case of communication delay and time-varying formation configuration. Firstly, the time-varying formation control problem is transformed into an asymptotically stable problem of the closed-loop system. Secondly, a Lyapunov-Krasovskii function is constructed and a sufficient condition for the stability of multi-agent formation system is given in terms of linear matrix inequality (LMI). Finally, simulation is carried out with the multi-agent system being regarded as a mass point. Results show that when the communication delay and control protocol parameters meet the stability condition, the proposed formation control algorithm can produce a desired time-varying formation.

Cite this article

ZHOU Shaolei , KANG Yuhang , GUO Zhiqiang , LI Songlin , QI Yahui . Formation control of multiple UAVs with communication delays[J]. Science & Technology Review, 2017 , 35(7) : 77 -82 . DOI: 10.3981/j.issn.1000-7857.2017.07.009

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