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Control of multi-UAV cooperative formation with equality communication time-delay
Received date: 2017-05-25
Revised date: 2017-07-17
Online published: 2017-07-17
Supported by
National Natural Science Foundation of China (61305136); Aeronautical Science Foundation of China (20131384004)
Delay is an unavoidable problem in cooperative formation control of multi-UAV (Unmanned Aerial Vehicle). It is of a great practical significance to study the effects of time-delay on stability of the multi-UAV formation system. This paper focuses on control of multi-UAV cooperative formation with equality communication time-delay, and obtains the stability conditions of the system. The control law of cooperative formation with equality communication time-delay is designed, and the equation for the closed loop time-delay state of the multi-UAV formation system is obtained. Considering the uncertainty of the system model, the stability condition of the system with constant equality time-delay is obtained by Linear Matrix Inequality (LMI). The simulation results show that the multi-UAV formation system is stable, and the desired formation can be formed and maintained.
MA Peibei , LEI Ming , JI Jun . Control of multi-UAV cooperative formation with equality communication time-delay[J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2017 , 38(S1) : 721551 -721551 . DOI: 10.7527/S1000-6893.2017.721551
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