Research Progress of Formation-Cooperative Control Methods for Low-Speed and High-Speed Vehicle Systems

Abstract

As a typical cooperative control mode of multi-vehicle system, formation control can effectively solve the shortcomings of a single aircraft in information collecting, field detection, comprehensive attack and so on. This paper summarizes the research progress of formation control methods for low-speed and high-speed vehicle systems. Firstly, this paper introduces the basic concepts of four mainstream formation control strategies: leader-follower method, virtual structure method, behavior control method and consensus method, and analyzes their structural characteristics and strategic advantages. Then, based on these four methods, the control characteristics and performance differences of UAVs and low-speed missiles are summarized. The special flight characteristics make the formation control of high-speed vehicles have higher requirements for fault tolerance, rapidity and accuracy of system response, and then this paper mainly combs the theoretical practice and application exploration process of high-speed vehicles formation control, and puts forward the application problems that still need to be overcome. Finally, the development trend of vehicle formation control is prospected. The research can provide a reference for the future research on the theory and application of multi vehicle system formation control.

Keywords

• |swarm intelligence|cooperative control|virtual structure|behavior control|formation control|consensus control|vehicle