UAV Formation Control Algorithm Based on Virtual Reference Center Strategy
Based on the virtual reference center strategy,the problem of coordinated control of UAV formation in a directed communication network structure was solved.A suitable continuous time formation control algorithm was designed for a multi-UAV system with imbalanced weights in a directed communication network,enabling multi-UAV cooperation to achieve formation and minimizing the global objective function.Using the Lyapunov stability theory,it has been proven that the improved algorithm can make the total movement path of each drone the shortest and achieve the global optimal formation in collaboration.
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