摘要
In this article, the formation control of quad-rotor unmanned aerial vehicle(UAV) via pigeon inspired optimization(PIO) is designed. The nonlinear mathematical model of the quad-rotor UAV is used by applying algebraic graph theory and matrix analysis. A high order consistent formation control algorithm with fixed control topology is designed by using a position deviation matrix to describe its formation. To control the attitude of quad-rotor UAVs, it is difficult to obtain a set of optimal solutions, and hence a PIO based algorithm with variable weight hybridization is proposed. The algorithm is mainly composed of two parts. First, according to the distance between the particles in the iterative process, the inertia weight is dynamically changed,and the coefficient is adjusted to control the degree of influence on its inertia weight. Second, the overall scenario is designed by using MATLAB based simulations which show that the formation control of the quad-rotor UAV is achieved with the help of PIO.
