A Improved Fusion Formation Control Method of Leader-Follower and Virtual Structure

In order to solve the problems that the formation structure without physical leader is difficult to make unified decision or communication is limited in the face of unexpected situations, and the formation structure with physical leader is low in autonomy and robustness, this paper proposes a improved fusion formation control algorithm of leader-follower and virtual structure. Based on consensus and graph theory, the second-order model and communication topology are established. The formation structure is designed based on the leader-follower and the idea of virtual structure. An improved consensus algorithm is used to design a formation control law with adjustable weights. Finally, through simulation and result analysis, it is found that the proposed method can cope with emergencies better and improve the robustness and autonomy of the formation system.