Flocking control of flying robots considering model's dynamics processes

摘要

This paper studies the flocking problem for flying robots in three-dimensional space. Each robot's attitude dynamics is considered. Motivated by consensus algorithms, we propose a distributed control law to achieve the flocking of flying robots. The convergence is proved by Lyapunov function and LaSalle's invariance principle. And the simulation results are given to demonstrate the effectiveness of the proposed control law.