Optimal obstacle avoidance consensus formation control method for fixed-wing UAV with variable topology

Aiming at the problems of control consumption, obstacle avoidance and topology change of multi-UAV formation control, a variable topology optimal obstacle avoidance consensus formation control method for multi-UAV system is proposed in this paper. First, a nonlinear model of the fixed-wing UAV is established, which is simplified to a second-order integral model by feedback linearization method. Then, a basic consensus control protocol is designed based on graph theory for obstacle-free formation control. On this basis, considering control consumption and topology change comprehensively, a variable topology optimal consensus algorithm is proposed to achieve the consensus of position and velocity information with minimum control consumption. In addition, considering the improved artificial potential field function in the obstacle environment, the optimal consensus algorithm of obstacle avoidance is obtained. Then, the stability of the proposed method is proved by the Lyapunov stability theory. Finally, the effectiveness of the proposed method is verified by numerical simulation, and the multi-UAV system can achieve the desired flight formation with the minimum control cost under the condition of variable topology and obstacles.