LAUSR

To address the problem of real-time formation tracking control of multi-UAV systems, a high-order distributed real-time formation tracking control protocol is designed based on previous research. Firstly, the dynamic models of the third-order formation motion control subsystem and second-order formation attitude control subsystem are established based on the mathematical model with autopilot, and the algebraic graph theory is introduced. Secondly, considering the influence of the mass of the obstacle on the formation, the mass of the obstacle was introduced into the repulsive potential field function to improve the obstacle avoidance efficiency of the UAV. Then, according to the state information between the leader and follower of the UAV, as well as between the follower and its neighbors, a third-order real-time formation tracking control protocol is designed combined with the potential field and consensus theory. Finally, the stability is proved using the Lyapunov theory. The 3D simulation results show that the formation-tracking control accuracy and obstacle avoidance efficiency are improved by this control protocol.