Consensus Strategies of Multi-agent Systems with Switching Topology

The problem of the UAV (unmanned aerial vehicle) system formation control under switching topology is addressed. Firstly, a linear consensus protocol for a second-order UAV swarm system is presented. Also, considering the interaction topology can be switching, the improved protocol is presented. Then, stability conditions are given to prove that the system can achieve consensus with the consensus protocol under switching topologies. The system stability is studied under the presented protocol. Finally, simulation example is shown to prove the performance of the presented protocol.