![]() ![]() This is because various missions can be successfully completed by the formation flight, such as battlefield reconnaissance, multi-target attacking, environment monitoring and earthquake rescue and so on. Recently, with the development of computer control, sensors, communication network etc., many researches on the formation flight control have been performed. Three dimensional formation control Jointly-connected topologies Multi-UAV system Non-uniform time delays Consensus protocol Numerical simulations verify the effectiveness of the formation control system. The research suggests that, when the time delay, communication topology, and control protocol satisfy the stability condition, the formation control protocol will guide the multi-UAV system to asymptotically converge to the desired velocity and shape the expected formation team, respectively. The stability analysis of the proposed formation control protocol is also performed. No explicit leader exists in the formation team, and, therefore, a consensus-based distributed formation control protocol which requires only the local neighbor-toneighbor information between the UAVs is proposed for the system. Three dimensional formation control problem of multi-UAV system with communication constraints of non-uniform time delays and jointly-connected topologies is investigated. ![]()
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