Formation tracking control of the multi UAV system with time varying communication delay

DOI:	10.11809/bqzbgcxb2023.06.031
Keywords:	time varying communication delay; formation tracking control; leader; follower; consistency; linear matrix inequality
Abstract:	Aiming at time varying communication delay, this paper studies formation tracking control of the multi UAV system so that the leader in the system can track the desired trajectory with followers tracking the leader’s trajectory and thus form the desired formation. A dynamic model of the UAV in the system is established, and some basic assumptions and explanations are made for the described situation. Based on the consistency theory, corresponding controllers are designed for the leader and the followers, and, through variable substitution and mathematical deformation, the formation tracking control in the original system is transformed into an asymptotic stability problem of a low order system. A suitable Lyapunov Krasovskii function is designed, and the sufficient conditions for the asymptotic stability of the new system are deduced by using the related theorem of linear matrix inequalities. A flight simulation experiment for the system is carried out in the matlab environment, and the results show that the system can realize the formation tracking control under the condition of time varying communication delay when the given conditions are satisfied.
Published:	2023-06-28
PDF HTML