Swarm control of UAV close formation based on information consensus

Sectional swarm control strategy of close unmanned aerial vehicle (UAV) formation is proposed based on information consensus. Swarm process is decomposed of three steps, including choosing reference rendezvous and allocating target rendezvous, as well as generating loose formation and generating close formation. Firstly, reference rendezvous are computed out as UAVs enter the predefined flight path along straight line and target rendezvous form as loose formation spreads out. Using optimization selection algorithm in the three-dimensional distance space, target rendezvous are assigned to each UAV quickly and accurately. Then, velocity consensus is applied to achieving stable point swarm towards target rendezvous and partner swarm towards loose formation. Swarm efficiency of the formation is improved with imprecise track control. Thirdly, close formation is formed ultimately with velocity and attitude consensus for precise track control, where transient process is smooth with gradual compression of geometrical configuration to avoid collision. Measurement errors, collaborative errors and communication delays are depressed by the synchronization method that the stability and the control accuracy of the close formation are improved. Finally, reasonableness and efficiency of the suggested three-dimensional formation swarm strategy are verified by MATLAB experiment.