Unmanned Aerial Vehicle Formation Consensus Algorithm Based on Virtual Relative Position Errors

To solve the problem of existing consensus algorithms converging to the same equilibrium point, a new consensus algorithm for unmanned aerial vehicle formation is proposed. By constructing virtual relative position errors, this algorithm's equilibrium point isn't determined by initial states and it can make all members approaching to ideal positions as well as consistent velocity. Based on algebraic graph theory, the topological conditions and parameter conditions required by algorithm convergence are derived. Simulation results verify the validity of this algorithm which is suitable for general design of unmanned aerial vehicle formation system.