关键词: 级联系统理论, 输入约束, 双曲正切函数, 一致性, 编队控制

Abstract: This paper investigates the formation control strategy for the multiple UAVs based on cascade system theory and consensus algorithm with input constraint. Firstly, the general model of the vertical take-off and landing vehicles system is given. Secondly, a simplified model with cascade form is presented by transforming the complex general model based on cascade theory and the consensus algorithm is proposed for the model with cascade form based on the bounded property of the hyperbolic tangent function. Finally, the formation control algorithm is presented based on the proposed consensus algorithm with input constraint to study the problem of multiple UAVs formation control. The simulation examples have done to illustrate the effectiveness of the proposed approach based on Matlab platform. Numerical simulation shows all the states can converge to same state. Furthermore, numerical simulation about multiple UAVs formation control has done. The simulation results show multiple UAVs can reach the desired formation under the proposed approach.

Key words: cascade system theory, input constraint, the hyperbolic tangent function, consensus control, formation control