Design of unmanned aerial vehicle formation keeping controller based on improved consistency algorithm design

This article conducts in-depth research on the problems of large gain convergence oscillation and simultaneous application of translational rotation in traditional consistency algorithms. First, based on the traditional consistent formation algorithm, a virtual long machine is introduced, and a new norm is defined to extend the original consistent algorithm to solve the problem of large gain convergence oscillation in the Linearizability algorithm. Secondly, in response to the issue of the inability to maintain the formation caused by the application of translational rotation in traditional consistent formation processes, the maximum distance is introduced as feedback to the reference controller to modify the reference input trajectory to ensure good tracking of the formation during translational rotation. Finally, a joint semi physical simulation was conducted using the open-source flight control Ardupilot and the open-source simulation platform Airsim to further validate the feasibility of the improved algorithm. The results of this study indicate that the proposed algorithm has significant improvements in solving the problems existing in traditional consistency protocols and has good feasibility in practical applications.