Research On Consensus Tracking And Formation Control Of Swarm UAVs

The cooperative work of group UAVs has broad application prospects in many fields,in recent years,the collaborative control technology of group UAVs has attracted the attention of academic circles.The consensus theory is an important method to research the formation control,it is to design the communication rules between the agents to make the state or output information of all agents eventually reach a common value,the common value is randomly uncontrollable.However,in practical applications,it is hoped that the state information of the multi-agent reaches a desired state.Therefore,this paper mainly researched the consensus method with the reference state,which also called the consensus tracking method,and applying the method to the formation control of the group UAVs so that all the states or output information of the UAVs are finally reach consensus at the desired reference state.The specific research contents and results are mainly reflected in the following aspects:(1)The multi-agent consensus tracking algorithms of first-order and second-order system were introduced based on algebraic graph theory and matric theory,and the condition of the algorithms for reaching consensus were given.As the existing Literature rarely considered the condition that only partial agents can receive the reference state,the consensus tracking method for the first-order system and the second-order system under local interaction was proposed,and on this basis,the consensus tracking method with input constraints was also researched,and we compared the two methods through simulation.Many simulations were done by using Matlab to validate the accuracy of the consensus algorithm.(2)The problem of distributed formation control when modeling UAVs as firstorder systems was researched.Firstly,a consensus-based control protocol was proposed,we compared the formation effects for the leading-following control strategy and control protocol proposed in this paper in the presence of disturbance.Then,the existing method is often used to treat the UAV as a particle and ignore the directionality of the movement of a single UAV.We proposed a control method by linking the positional deviation of the UAVs with the leader and the speed direction of the leader,the geometric configuration between the UAVs can be changed accordingly when the UAV formation flight.Finally,the effectiveness of the proposed method is verified by comparative simulation.(3)The tracking target formation control problem of group UAVs was researched.The simplified second-order motion model of the UAV was given by feedback linearization in this paper,and the formation control framework is designed.Aiming at the situation that only some of the UAVs can access the time-varying reference status information of the tracking target,in order to ensure the information status of the UAVs can reach consensus and formation,the formation control protocol was proposed based on the consensus tracking theory.And the control protocol with input-constrained was considered,the simulation experiment is designed for the formation control of the UAVs in both fixed topology and random switching topology.The comparative simulation results show that the control method with input-constrained can be better applied to practice.