Research On Formation Control Of Multi-Unmanned Aerial Vehicle System With Communication Delays

In recent years,with the rapid development of science and technology,multi-agent system has been widely used in military,industrial,aerospace and other fields,which has attracted the attention of the majority of scholars,and brought great convenience to our lives.Among them,as one of the important methods to study multi-agent system,multi-agent cooperative control is mainly through the design of cooperative controller to make the agents in the multi-agent system cooperate with each other,thus,the complex group tasks that a single agent can't accomplish can be done,so it has huge developmental potential.As a classic practical example of multi-agent system,multi-unmanned aerial vehicle(UAV)system makes multiple UAVs move continuously and form and maintain the desired formation to complete the overall task with formation control under the condition of satisfying environmental constraints.Therefore,the research on formation control of multiple UAVs has important scientific research and practical engineering significance.This paper focuses on the formation control problem of multiple unmanned aerial vehicles with communication delay.The main contents are as follows:Firstly,summarize the related research background and research status,as well as the main work of this paper.Secondly,this chapter briefly introduces the algebraic graph theory,matrix theory,stability theory and other relevant theoretical methods.Thirdly,study the formation control problem of multi-uav system with communication delay.For the second-order multiple UAVs system with one leader and multiple followers,under the topology of directed communication network,a distributed formation controller is designed,considering the case of uniform communication delay in the interaction of position information and velocity information about the adjacent UAVs.The range of the control parameter matrix is obtained by using the theory of negative matrix.By using Lyapunov stability and linear matrix inequality technique,the sufficient conditions of system stability are given and the maximum time delay to guarantee the realization of formation target is obtained.Finally,make the simulation experiments and analysis on the formation control method of multiple UAVs with communication delay prove the correctness and effectiveness of the proposed method.Fourthly,study the formation control of multiple unmanned aerial vehicle systems with multiple time delays.In the practical application,the interference of the externalenvironment and the difference of the communication equipment in the system can affect the adjacent aircrafts,which will result in the communication delay cannot be the same when the position information and speed information are exchanged.So,in this chapter,a distributed formation controller with multiple time delays is designed,through the Lyapunov stability theory,the sufficient conditions for the stability of the system are presented.In this method,the follower can track the leader's trajectory and maintain a set formation to continue flying and at the same time solve the problems of different communication delays.At last,the effect of this method is verified by numerical simulation experiment.Finally,summarize the whole paper and point out the shortcomings in the research,then look forward to the future research work.