具有通信时延下多无人机编队控制

 针对具有二阶动力学特性多无人机系统模型，在具有通信时延及编队构型时变的情况下，本文提出了一种基于一致性理论的编队控制算法。首先将多个无人机的时变编队控制问题转换成闭环系统的渐近稳定问题；然后通过构造Lyapunov-Krasovskii 函数，并以线性矩阵不等式（linear matrix inequality）的形式给出多无人机编队系统时变编队稳定的充分条件；最后以被视为质点的多无人机系统为例进行了仿真验证。结果表明：当通信时延、控制协议参数等满足稳定条件时，文中提出的编队控制算法能使多无人机编队系统形成期望的时变编队队形。

Formation control of multiple UAVs with communication delays

This paper proposes a formation control algorithm based on the consensus theory for a multi-agent system model of secondorder dynamic characteristic in the case of communication delay and time-varying formation configuration. Firstly, the time-varying formation control problem is transformed into an asymptotically stable problem of the closed-loop system. Secondly, a Lyapunov-Krasovskii function is constructed and a sufficient condition for the stability of multi-agent formation system is given in terms of linear matrix inequality (LMI). Finally, simulation is carried out with the multi-agent system being regarded as a mass point. Results show that when the communication delay and control protocol parameters meet the stability condition, the proposed formation control algorithm can produce a desired time-varying formation.