| Citation: | HE Lyulong, ZHANG Jiaqiang, HOU Yueqi, et al. Time-varying formation control for UAV swarm with directed interaction topology and communication delay[J]. Journal of Beijing University of Aeronautics and Astronautics, 2020, 46(2): 314-323. doi: 10.13700/j.bh.1001-5965.2019.0206(in Chinese)
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Time-varying formation control problems for unmanned aerial vehicles (UAV) swarm with directed interaction topology and communication delay are investigated. The UAV swarm is modeled as second-order discrete-time system on the formation control level and a distributed formation control protocol is designed by utilizing the instantaneous state information of UAV itself and the communication delayed state information of its neighbors. Through theoretical analysis, the necessary and sufficient conditions for UAV swarm to achieve time-varying formation are obtained, and an explicit description of the feasible time-varying formation set is given. Under the condition that the swarm communication topology has a spanning tree, the constraints of undetermined parameters and state update period in the control protocol are analyzed, and the flowchart of parameter design is given. Simulation results show that the designed control protocol can achieve time-varying formation control of UAV swarm even with relatively large communication delay, and thus the correctness and effectiveness of the theoretical analysis are verified.
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