The invention discloses a multi-unmanned-aerial-vehicle formation
consistency control method based on event-triggered communication. With the distributed control architecture, the control center in the centralized control architecture is removed, so that no phenomenon of formation failure due to the destruction of the central control node exists. Computing tasks of the UAV formation are controlled, the tasks are distributed from a control center to onboard computers of the member UAVs, thereby greatly improving the overall computing power of the formation and breaking through the performance
bottleneck caused by the computing power; with introduction of an
event trigger communication mechanism, the
algorithm does not need to acquire cooperative state information in each control cycle continuous communication, and only intermittent communication needs to be carried out under a trigger communication condition. Compared with a consistency
algorithm based on continuous communication, the
algorithm has the advantages that the network
information transmission quantity can be greatly reduced, the limited
communication bandwidth is used for transmitting more task information, and the dependence on the performance of a communication
system can be reduced The algorithm has certain tolerance to transient communication interruption or
signal interference, and
engineering implementation isfacilitated.