Large-Scale Unmanned Aerial Vehicle Formation Maintenance Algorithm Based on Virtual Structure

The large-scale formation maintenance control of unmanned aerial vehicle based on consensus algorithm and virtual structure was researched. Firstly we develop consensus strategies to guarantee the state formation of the virtual frame in each formation member which may inconsistent. Then, a formation control model based on virtual structure method is adopted to analyze the time-varying trajectory tracking error with the desired position, and a distributed control law based on consensus algorithm is presented to maintain the desire formation structure. Finally simulation results are provided to demonstrate the effectiveness of the proposed control.