UAVs Formation Control Based On Consistency Theory

With the progress of modern science and technology,unmanned aerial vehicle(UAV)technology has also made remarkable progress,and roles in both military and civil fields is becoming more and more important.However,A single UAV has certain limitations in the future battlefield environment with high risk and high suddenness。Affected by its on performance,UAV is prone to break down,resulting in the decline of task execution efficiency.Therefore,technology of UAV formation control came into being.This paper will take UAV as the research object,take consistency theory as the research basis,and focus on UAV formation control and obstacle avoidance.The research contents are mainly divided into the following aspects:(1)Aiming at the problem of UAV cooperative formation based on consistency theory.A state controller is proposed to make each UAV flight state in the formation reach the expected value of convergence.Considering the actual situation,the relative position matrix is added to the state controller.The state controller is transformed into horizontal and vertical formation controllers by means of transformation matrix.Due to the limitation of UAV mobility,the flight states of UAV are limited.The flight states adjustment strategy is used to update the horizontal and vertical formation controllers to meet the constraints.The simulation results show that the formation control algorithm is effective and meets the flight state constraints.(2)Aiming at the time-varying formation problem of consistency.Firstly,the time-varying formation algorithm under fixed topology is proposed,and the Lyapunov function is constructed to analyze the stability of UAV formation system;Secondly,the formation order is reduced by using the time-varying Laplace algorithm;Finally,the effectiveness of the two algorithms is verified by simulation.(3)Aiming at the obstacle avoidance problem of UAV cooperative formation with consistency.An improved artificial potential field method combining collision prediction method and artificial potential field method is proposed.Because the basic artificial potential field obstacle avoidance is prone to local minimum and other problems,the virtual pilot is added to the formation algorithm.The formation obstacle avoidance algorithm realizes the cooperative obstacle avoidance of the formation based on the combination of the potential field force between the virtual pilot and the UAV inside the formation and between the whole formation and the obstacles.The effectiveness of the obstacle avoidance algorithm is verified by simulation.