3-d Space Flight Formation Control for Uavs Based on Mas

A Multi-Agent System(MAS) consensus based algorithm is proposed for Multi-UAVs to maintain a specified time-varying geometric configuration for formation flight in 3-D space. Use decoupling characteristics in altitude control of Multi-UAVs, formation problem in 3-D space, was decomposed altitude control and plane control. In this approach, the proposed control strategy requires only the local neighbor-to-neighbor information between vehicles. Speed, heading angle. Then height synchronization is realized and the 3-D space formation flight can be achieved, and formation transform was investigated. The simulation results show that, this method has good robustness and scalability, simple calculation and a small amount of communication, and make the formation in 3-D space become easy to implement.