国产欧美精品一区二区,中文字幕专区在线亚洲,国产精品美女网站在线观看,艾秋果冻传媒2021精品,在线免费一区二区,久久久久久青草大香综合精品,日韩美aaa特级毛片,欧美成人精品午夜免费影视

Multi UAV cooperative formation is an important direction of UAV technology development. Compared with single UAV, it can increase the search area and improve the efficiency of UAV mission execution. In order to improve the control effect and execution efficiency of formation control algorithm, making an improvement with consistency algorithm. Based on the consistency theory, according to the characteristics of UAV and the actual flight situation, an improved consensus formation control algorithm is designed, and the boundary problem of consistency variable is smoothed and limited. A new norm, is designed to adjust the appropriate control parameters. The best trace control effect can be obtained by segmented planning. The target point control is added to the control protocol, and the parameters in the control algorithm are optimized to realize the consistent stable control of UAV. Finally, a consistent formation algorithm is designed according to the Leader-Follower control logic of UAV. Different close formation missions are realized. The simulation results show the effectiveness of the uniform formation control algorithm.