Consensus-based distributed formation control for coordinated battle system of manned/unmanned aerial vehicles

In this paper, a consensus-based distributed formation control method is proposed for improving the coordinated battle efficiency of coordinated battle system for manned/unmanned aerial vehicles (MAV/UAVs). The method proposed is designed based on consensus protocol, which contains three parts. First, the distributed structure with limited centralized strategy for MAV/UAVs cooperative system is designed. Second, a second-order dynamic model is built up to describe the distributed formation system, which is further simplified using feedback linearization method. Third, the information exchange topology of MAV/UAV-coordinated battle system is established on the basis of graph theory and leader-follower mechanism. Finally, the effectiveness of the proposed formation strategy for MAV/UAVs cooperative system is proved asymptotic convergence by constructing a reasonable Lyapunov function which guarantees the accurate formation maintenance. Simulation results are presented to demonstrate the effectiveness of the proposed method. And comparative simulation results reveal that the method proposed in this paper is superior to traditional algorithms in the aspects of accuracy and stability.