Virtual Structure in Formation Flight Control of UAVs via NOPSC Algorithm

This paper presents a virtual structures in multi-UAVs formation flight via consensus strategies. By using consensus strategies, each UAV can track coordination vector, the desired formation shape can be preserved accurately. For the multi-UAVs control problem, applying a novel base-on outdated and predicted state consensus algorithm (NOPSC) to ensure accurate formation maintenance through information coupling between local neighbors, and the formation control problem is transformed into each UAV tracks its desired state.