Research and Implementation of Distributed Algorithm for Cooperative Control of Multiple UAVs

The conventional centralized control approach encounters issues related to real-time performance and stability. In contrast, the distributed cooperative control algorithm simplifies the system's complexity while enhancing its flexibility and robustness by assigning control tasks to individual UAVs. This paper introduces a distributed algorithm framework grounded in consistency theory, incorporating three essential components: information perception, decision-making calculation, and execution control. Through information exchange and collaborative decision between UAVs, cooperative control and formation maintenance of multiple UAVs are realized. The simulation outcomes indicate that the algorithm is capable of successfully achieving precise formation control, stable flight operation and strong robustness, especially in large-scale, complex and changeable multi-UAV systems, which shows obvious advantages compared with the traditional centralized algorithm.