Formation Control for Multi-UAVs System Based on Event-triggered Mechanism

The problem of formation control for multi-UAV systems is studied when the communication bandwidth is limited. By using combination position and velocity error, the formation control protocol with event-triggered mechanism is co-designed to reduce the amount of transmitted information over cyber network. Then the asymptotic stability criterion of the multi-UAV formation system is achieved by using the Lyapunov method. Finally, the numerical simulation is carried out to verify the effectiveness of the proposed formation control scheme for multi-UAV systems.