Wind interference and time delay environment have great influence on the stable flight of a multi-quadrotor UAVs (QUAVs) formation, which has important study to achieve the consensus control of multi-QUAVs formation flying in these conditions. In this paper, through analyzing the aerodynamic force and moment caused by the wind effect on the quadrotor, a quadrotor dynamic model with wind disturbance is established. Considering that the multi-QUAVs formation flight will be affected by different degrees of wind effect, several different weighting functions are proposed to simplify this complicated problem, and multi-QUAVs dynamic model in wind disturbance environment is innovatively established. Based on the continuous time consensus algorithm, considering the influence of wind disturbance and time delay, using the graph theory and leader-follower formation idea, dynamic modeling of multi-QUAVs is proposed, and realize the finite time consensus control. The simulation and experiment results prove the effectiveness of the proposed method.

中文翻译：

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风扰下多QUAV的动态建模与延迟一致性控制


风干扰和时滞环境对多旋翼无人机（QUAV）编队的稳定飞行影响很大，研究实现多旋翼无人机编队飞行的一致性控制具有重要意义。本文通过分析风对四旋翼飞行器产生的气动力和力矩，建立了考虑风扰动的四旋翼飞行器动力学模型。考虑到多QUAV编队飞行会受到不同程度的风效应影响，提出了几种不同的权重函数来简化这一复杂问题，创新性地建立了风扰环境下多QUAV动态模型。基于连续时间一致性算法，考虑风扰动和时间延迟的影响，利用图论和主从编队思想，提出多QUAV的动态建模，实现有限时间一致性控制。仿真和实验结果证明了该方法的有效性。