文档介绍：电光与控制
Electronics Optics & Control
ISSN 1671-637X,CN 41-1227/TN
矩阵
中图分类号：V249 文献标志码：A
Multi-UAV Systems Formation Tracking Control
Under Directed Topology
WANG Lin, ZHANG Qingjie, CHEN Hongwei
（ Aviation University of Air Force，Changchun 130000, China）
Abstract: For the formation control problem for distributed swarm systems, a distributed formation control
method under directed topology is put forward. Firstly, by introducing auxiliary functions into the control protocol
and using variable substitution, the formation control problem is transformed into the stability problem of
autonomous system, which simplifies the complex control problem. Secondly, by solving linear matrix inequality,
the control gain matrix is designed with simple form and low complexity. Then the stability of the system is
analysed using common Lyapunov approach. Simulation results show that multi-UAV systems can effectively
realize formation tracking control under the distributed contr