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

摘要： 针对多无人机系统的编队控制问题，提出了一种基于级联系统理论及输入约束一致性算法的控制方法。首先，给出了垂直起降无人机系统的一般性模型。然后，基于级联系统理论将复杂的一般性模型化简成级联形式，针对级联形式模型，利用双曲正切函数的有界性质，在控制器设计时引入双曲正切函数设计了一致性控制算法。最后基于所设计的输入约束一致性控制算法，设计编队控制算法研究了多无人机编队控制问题。基于Matlab仿真平台对所提控制方法进行验证，仿真结果表明在所设计的一致性控制算法作用下，系统中所有的状态都能够趋于一致。基于所设计的输入约束一致性算法，所提编队控制算法可以实现空间中的无人机保持指定的编队队形飞行。

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