针对二阶多无人机系统时变编队控制问题, 借助事件触发函数, 设计了一致性分布式控制器, 使其形成时变编队。结合Laplacian矩阵的特殊性质, 对其分解, 将编队问题化简为低阶系统渐近稳定性问题。给出控制器设计算法, 利用线性矩阵不等式(LMI)和Lyapunov函数证明了在给定事件触发函数下算法的有效性, 并证明了所给事件触发函数时间序列不存在Zeno现象。对多无人机系统的运动在三维空间进行仿真, 结果表明无人机在所设计的控制器作用下形成期望的时变编队, 有效地节约了通信带宽和计算资源。

To solve the problem of time-varying formation control of the second-order multi-UAV system, a consensus distributed controller is designed by using the event-triggered function, so that the multiple UAVs can form a time-varying formation.The Laplacian matrix is decomposed considering its special properties.The formation problem is simplified to the problem of asymptotic stability of low-order systems.The algorithm of controller design is given.Linear Matrix Inequality (LMI) and Lyapunov function are used to prove the effectiveness of the algorithm under the given event-triggered function.It is proved that there is no Zeno phenomenon in the time sequence of the given event-triggered function.The motion of the multiple UAVs system is simulated in 3D space.The results show that the multiple UAVs can form the desired time-varying formation under the effects of the designed controller, which effectively saves communication bandwidth and computing resources.