Consensus-based Full-process Formation Control Strategy for Multi-UAV System

This paper presents an integrated framework for full-process multi-UAV (Unmanned Aerial Vehicles) formation control, utilizing a 6-DOF F-16 aircraft model. The framework is founded on the inner-loop PID controllers for attitude stabilization and outer-loop guidance laws for trajectory tracking, combined with double-loop three-channel consensus control law that regulates inter-aircraft dynamics. It systematically manages the entire mission lifecycle: formation assembly is executed using Dubins curves for path planning, aiming at the path intersection problem in the process of UAV formation generation; formation keep and switching is achieved through a novel optimal assignment method that combines 3D spatial mapping with the Hungarian algorithm within a leader-follower strategy; and finally, aircraft departure and formation dissolution are managed by adjusting the communication topology, considering the actual formation flying mission. Full-process simulations validate the framework's effectiveness and engineering feasibility for complex, multi-phase missions.