Distributed cooperative control for UAV swarm formation reconfiguration based on consensus theory

A distributed cooperative control protocol is presented, which can make the UAVs reach consensus while changing the formation configuration in fixed topology for UAV swarm. First, the consensus protocol is presented, then define the error system of the formation, by using the Lyapunov stability theory, the sufficient condition of stability for the error system is presented. Finally, to verify the validity of the control protocol, several simulations are conducted. The simulation results demonstrate that our protocol can effectively achieve the formation reconfiguration and preserve the prescribed formation and reach velocity consensus.