Formation Control of Multi-UAVs System With One Leader and Different Time-Delay
SHAO Junqian
LI Chengfeng
SUN Jian
Abstract：Based on consistency theory of Multi-agent systems with time-delay,the formation control problem is studied for multi-UAVs system with one leader and different time-delay.Control protocol of the system is Improved,it make multi-UAVs sys?tem in the case of a few information to ensure consensus.In the network with switching topology,the time domain linear matrix in?equality(LMI)method is employed,suffcient condition in terms of LMI is derived to ensure consensus of second order multi-UAVs system,which can provide the allowable upper bound of time-delay.Further communication time-delay among unmanned aerial ve?hicles is equal to communication time-delay between unmanned aerial vehicle and the leader that condition is discussed,and a sim?ulation example is provided to show the effectiveness of controllers design.
Keywords：multi-UAVs systemcommunication time-delaycontrollerconsistency theory
Publication Date：2017-01-01
Online Publishing Date：2025-08-15(First online date of this platform, not the publication date of the document)
Pages：6( 2383-2388 )