The Decentralized Controller Based on a Consensus Theory for Stabilizing the Heading Angle in Closed Formation

During the closed formation control of multiple unmanned aerial vehicle UAV’s strategy, the flight direction of UAV’s will be disturbed, which is difficult to predict accurately, due to the wind disturbance, atmospheric pressure and aerodynamic force produced by the UAV’s. In this research, decentralized closed formation heading flight controllers is proposed for the correction of heading angle of UAV’s based on consensus theory. Collisions may occur in the course of the heading angle correction, the convergence of heading angle correction system is calculated by eigenvalue. The robustness of the proposed heading flight controller is simulated on different communication structure, and it proves that it has better robustness and fast convergence.