介绍了图论和群体系统一致性的相关理论, 提出一种分布式四旋翼无人机编队控制方法, 将四旋翼无人机描述为二阶积分器动力系统, 采用相对位置偏差描述编队队形; 根据四旋翼无人机之间通信拓扑关系将四旋翼无人机编队建模为图, 探索了领航跟随法和基于图论法的融合策略, 给出一种有领航者的二阶一致性算法。在该算法下, 编队可以完成编队集结和编队机动等行为, 最后通过仿真实验验证了该方法的有效性。

A distributed control method for formation of quadrotor UAVs is presented with introductions on the fundamental knowledge of graph theory and consensus of swarm system.The quadrotor UAV is described as a second-order integrator dynamic system,and the relative position is used to describe the UAV formation shape.The quadrotor UAV formation is modeled based on the communication topology relationship of quadrotors.The strategy of follower-leader method integrated with graph-based method is explored.A second-order consensus algorithm is presented,with which the fleet can complete formation gathering and formation maneuvering.Finally,the effectiveness of this algorithm is shown through the simulation results.