A method of formation pattern alternation and consistent flight control in complex battlefield environment is put forward, considering the single formation pattern during formation flight and failing to deal with the changeable battlefield environment. The virtual leader’s consistent reference state model is constructed, and the control law model under constant reference state and time-varying reference state is designed. The necessary and sufficient conditions for followers to track virtual leader consistently are given in accordance with fixed topology and dynamic switching topology. To realize formation control, the time-varying trajectory consensus controller with virtual leader reference state is proposed. The visual operation interface is designed which can make the formation generation process easy to operate. The simulation results show that the method has realized the dynamic switching of formation pattern and the flexible setting of formation size in complex battlefield environment, and the consistent tracking of formation follower to virtual leader and the consistent flight of formation, which provides support for the development of key technology of cluster equipment.


    Access

    Download


    Export, share and cite



    Title :

    Formation Consensus Control Method With Time-Varying Parameters Based on Virtual Leader


    Contributors:
    Hongyun Wang (author) / Xiwei Guo (author) / Wenzhao Li (author) / YaQin Li (author) / Weiwei Gao (author)


    Publication date :

    2025




    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    Unknown




    Formation control of vehicles using leader-following consensus

    Chen, Yangzhou / Zhang, Guoxiang / Ge, Yanrong | IEEE | 2013


    Time-Varying Consensus Control Method of Hybrid Hierarchical Distributed Formation

    Hongyun Wang / Min Gao / Dan Fang et al. | DOAJ | 2022

    Free access

    Time-Varying Formation Control of Drones Using Consensus Theory

    Shi, Xinhao / Yang, Tao / Zeng, Qinghan et al. | Springer Verlag | 2024


    Leader-Following Consensus

    Mahmoud, MagdiSadek / Karaki, Bilal J. | Springer Verlag | 2022


    Adaptive control for leader-following consensus problem

    Yue Xu / Ziyang Zhen / Jie Chen | IEEE | 2016