Dynamic Event-Triggered Consensus Formation Control Method for Multi-Leader UAVs with Communication Delay

To address the problems of communication delay and waste of communication resources in the formation process of UAVs, a dynamic event-triggered formation control method for second-order multi-leader UAV systems with communication delay is studied. On the basis of considering the communication delay, a dynamic triggering mechanism is designed. By adjusting the triggering time in real time, the system can be more effectively controlled based on its current state. According to the control method, the mathematical models for the extended state observer, controller, and dynamic event-triggering function of the system have been established. Its stability is demonstrated by Lyapunov stability theory and linear matrix inequality theory, and Zeno behavior is excluded. The simulation results show that compared with the existing methods, the proposed method can avoid the dependence on the global information of the network topology, reduce the communication frequency, and effectively save communication resources.