UAV Formation Cooperative Control Based on Consistency Theory

In order to accomplish the task of formation maintenance during coordinated UAV cluster flights, a position cooperative control algorithm based on consistency theory is proposed. In this paper, the conventional algorithm of consistency theory is improved by introducing a desired relative distance term between UAVs in order to form a desired formation when the positional states of the system reach consensus. A potential energy function term is further introduced to improve the system's ability to avoid collision and maintain communication. The stability, collision avoidance and communication maintenance capabilities are then demonstrated by Lyapunov's second method. Finally, the 3D motion trajectories of the system, relative distances between UAVs, positions and attitude over time curves through simulation experiments are analyzed. The simulation results show that the algorithm can keep the UAV formation flying in line with the predetermined formation, has good anti-interference ability, and basically solves the problem of collision avoidance and communication maintenance.