Online Model Construction of RFA Based on a Consensus Protocol

In response to the challenges inherent in conventional rotorcraft UAVs, a reconfigurable flight array (RFA) has been introduced, which is designed with the ability to rapidly assemble different configurations to accommodate complex environments. However, different configurations entail distinct control strategies. Hence, configuration recognition is a vital prerequisite for achieving stable flight. This paper analyzes the process of topology identification, configuration identification, and online modeling of an RFA, which establishes the foundational framework for the subsequently stable flight. By classifying modules into active modules and passive modules based on their behaviors, and the system’s topology structure can be identified. Furthermore, the configuration structure is analyzed, then the coordinate information of each module for the specific configuration is used for building the dynamic model of an RFA.