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Mathematical Problems in Engineering
Volume 2013, Article ID 368369, 9 pages
Research Article

Modeling and Flocking Consensus Analysis for Large-Scale UAV Swarms

School of Mechatronical Engineering, Beijing Institute of Technology, Beijing 100081, China

Received 31 July 2013; Accepted 7 October 2013

Academic Editor: J. A. Tenreiro Machado

Copyright © 2013 Li Bing 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.


Recently, distributed coordination control of the unmanned aerial vehicle (UAV) swarms has been a particularly active topic in intelligent system field. In this paper, through understanding the emergent mechanism of the complex system, further research on the flocking and the dynamic characteristic of UAV swarms will be given. Firstly, this paper analyzes the current researches and existent problems of UAV swarms. Afterwards, by the theory of stochastic process and supplemented variables, a differential-integral model is established, converting the system model into Volterra integral equation. The existence and uniqueness of the solution of the system are discussed. Then the flocking control law is given based on artificial potential with system consensus. At last, we analyze the stability of the proposed flocking control algorithm based on the Lyapunov approach and prove that the system in a limited time can converge to the consensus direction of the velocity. Simulation results are provided to verify the conclusion.