Formation Consistency Correction Strategy for UAV Formation

Aiming at the problem of large deviation of UAV formation when it is disturbed by wind, the consistency correction strategy of UAV formation is proposed. Based on vector field theory and consistency theory, the formation consistency correction control law of UAV formation is designed, which can uniformly eliminate the deviation distance between each UAV and its desired path, eliminate the deviation between the actual spacing and the expected spacing of each UAV couple, and the velocity deviation of each UAV couple in the formation. The security, coordination and efficiency of the proposed UAV formation correction strategy are proved, and which are verified by the simulation results.