Realization of Robust Formation for Multi-UAV Systems Using Control Barrier Functions

Network robustness is a necessary prerequisite for the effective execution of resilient control in distributed multiple unmanned aerial vehicles (UAVs). However, it remains a challenging task to construct a communication graph that satisfies specific network robustness properties. This paper investigates robust formation control of multi-UAV systems using control barrier functions (CBFs). We first propose a novel formation law to drive groups of UAVs into formations with communication graphs that satisfy the (r, s)-robustness. With such a law, all the normal UAVs in the formation are capable of executing a given resilient consensus protocol, and achieving convergence in the presence of malicious attackers. Then, we present a control law that facilitates the establishment of UAV formations, in which the communication graphs satisfy p-fraction robustness. Finally, simulation examples are given to verify the effectiveness of the proposed formation control laws.