Finite-time consensus-based formation control with collision avoidance for a multi-UAV system

Abstract

Unmanned aerial vehicle, which is abbreviated as “UAV”. How to make every UAV in large-scale network follows its designed route and reaches the planned location within finite-time? And how to make sure that every single UAV could avoid from being collided with others during the process of reaching desired location? Those are the hot topics that deserve more discussion, meanwhile, they are the motivations for our works. In this thesis, a dynamic controller for single quadrotor based on global fast TSMC and trajectory planning method based on APF are introduced first. Then, for multi-quadrotor consensus task, a formation control system is introduced based on multi-agent finite-time consensus strategy and collision avoidance method of APF. Meanwhile, very detailed simulation are displayed every time a control strategy is introduced.