Multi-unmanned System Collaboration with Communication Delay Under Sensory Constraints

Cooperative perception is one of the hot topics in the current research of control science and engineering, and is widely used in many fields. Based on this research background, this paper selects uncoupled multi-unmanned system as the research object, and conducts in-depth research on the problems of limited perception and communication delay. The main research results are as follows: for the quadrotor system, based on the research of a published literature, this paper innovatively adds the communication delay condition, and uses the distributed model predictive control method to establish the formation control model of each quadrotor with communication delay under the perceptual constraints. The simulation results show that the algorithm has a strong reference value for the formation control problem of multiple intelligences under communication delay.