Leader-Following Consensus of Open Multi-Unmanned Aerial Vehicles Systems under Directed Topology

This article addresses the leader-following consensus problem of open multi-unmanned aerial vehicle systems (oMUAVSs) under directed communication topology. In order to achieve the leader-following consensus, the definition of leader-following consensus with respect to position and velocity is proposed for the oMUAVS, and the dynamic characteristics of the position and velocity error signals at the switching moment are characterized by using several inequalities. Then, the leader-following consensus problem is analyzed by using a distributed control protocol, and sufficient conditions are obtained for the position and velocity of UAVs to be able to converge to the position and velocity of the leader exponentially. Finally, the effectiveness of this control protocol is verified by a numerical simulation.