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International Journal of Aerospace Engineering
Volume 2016, Article ID 7657452, 8 pages
Research Article

Formation Control for Unmanned Aerial Vehicles with Directed and Switching Topologies

Department of Control Engineering, Naval Aeronautical and Astronautical University, Yantai 264000, China

Received 15 April 2016; Revised 2 August 2016; Accepted 15 August 2016

Academic Editor: Mahmut Reyhanoglu

Copyright © 2016 Yahui Qi et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


Formation control problems for unmanned aerial vehicle (UAV) swarm systems with directed and switching topologies are investigated. A general formation control protocol is proposed firstly. Then, by variable transformation, the formation problem is transformed into a consensus problem, which can be solved by a novel matrix decomposition method. Sufficient conditions to achieve formation with directed and switching topologies are provided and an explicit expression of the formation reference function is given. Furthermore, an algorithm to design the gain matrices of the protocol is presented. Finally, numerical simulations are provided to illustrate the effectiveness of the theoretical results.