Abstract:

Formation reconfiguration control in specified time of unmanned aerial vehicle (UAV) swarm systems is investigated. The UAV is modelled by a first-order integrator system. Based on the consensus method, the fixedtime consensus control protocols are proposed. The formation reference vector is introduced and by designing the continuous Lyapunov function, it is proven that the UAV swarm can achieve fixedtime consensus and formation reconfiguration with fixed connected interaction topologies. A quadrotor formation experimental system is set up. Flight test of a swarm system consisting of four UAVs moving in two dimensional plane is conducted. And the results prove the effectiveness of the proposed method.