Formation Control for Unmanned Aerial Vehicles With Markovian Switching Network Topologies

This paper considers time-varying formation control of unmanned aerial vehicle swarm systems with Markovian switching topologies . The formation problem is transformed to the consensus problem, then for achieving to this goal , the consensus protocol is presented. By using Lyapunov functional approach and algebraic Ricatti equation, the proper control is designed. In designing control gain , switching communication topologies are considered and control goals are obtained by a common control protocol. Switching topologies are generated by a time-homogeneous Markov process and union of topologies has important role in control gain. Finally, numerical simulation is presented to show theoretical results.