Distributed solving method of multi-UAV rendezvous problem

To solve the rendezvous problem in the mission area of cooperative attack for multiple unmanned aerial vehicles (UAVs), a distributed control architecture based on the consensus theory is built and a strategy which combines path plan and trajectory control is designed to realize the simultaneous arrival of the multiple UAVs. To increase the convergence speed of the consensus algorithm, a state predictor is introduced to improve the performance of the consensus control algorithm which contains the virtual leader. Theorem about convergence and efficiency of the new algorithm is introduced with the mathematical proof. Simulation results show that the simultaneous arrival of the multiple UAVs can be realized by the proposed distributed solving method and the improved algorithm has faster convergence speed.