Decentralized formation control for multiple UAVs based on leader-following consensus with time-varying delays

Combined with the decentralized method, a leader-following consensus protocol is studied with time-varying communication and self delays for multi-UAV formation control systems. By using Lyapunov and the linear matrix inequality methods, it can be proven that all the nodes can track the reference values asymptotically and the maximal allowable upper bounds of delays can be obtained. At last, simulation results of four UAVs formation are given to demonstrate the effectiveness and application value of the proposed method.