Abstract: According to the second-order consensus protocol with virtual navigator, the problem of Unmanned Aerial Vehicle’s（UAV） distributed formation in three-dimensional space is discussed. UAV’s nonlinear kinetic model is transformed into linear model by feedback linearization; The original control inputs are transferred into the accelerations in inertial coordinate system’s three axes and the linear model is solved by the consensus algorithm which makes the UAVs can build up stable and desired formation and move along virtual navigator with some air line at expected speed. The error function is defined and the stability of the system is proved based on Lyapunov stability principle. The validity of the algorithm and model is verified by simulation.

Key words: Unmanned Aerial Vehicle（UAV）, feedback linearization, consensus, distributed formation

摘要： 利用具有虚拟领航者的二阶动态一致性协议讨论了三维空间内分布式无人机编队控制问题。利用反馈线性化的方法将无人机非线性动力学模型线性化，将控制输入转化为惯性坐标系中三个坐标轴方向的加速度。运用一致性算法求解线性化后的无人机模型，使无人机能够形成稳定的预期编队并跟随虚拟领航者沿特定航线以一定速度运动。定义了编队的误差函数并运用Lyapunov稳定性理论证明了系统的稳定性。仿真验证了模型和算法的有效性。

关键词: 无人机, 反馈线性化, 一致性, 分布式编队