Time-Varying Formation Control of Drones Using Consensus Theory

This study introduces a novel time-varying formation control strategy for Unmanned Aerial Vehicles (UAVs), based on consistency theory. The primary objective is to achieve and maintain consistency among UAVs in formation tasks, allowing them to complete complex maneuvers seamlessly. Initially, we design the time-varying formation control laws and elaborate on the cluster topology relationships. Subsequently, we validate the consistency of the time-varying formation using consistency theory, ensuring uniformity among UAVs within the formation. To assess the effectiveness of the proposed method, we conduct extensive simulation experiments on UAV formations of varying scales, specifically 9, 33, and 100 UAV formations. Our results demonstrate that the proposed method can successfully complete UAV formation tasks, including transitioning from a wedge formation to a circular formation during flight. Our findings suggest that the proposed method is both practical and feasible, offering an efficient solution for UAV formation tasks.