Multi-unmanned aerial vehicle time-varying formation controller design method based on event triggering mechanism

The invention discloses a multi-unmanned-aerial-vehicle time-varying formation controller design method based on an event triggering mechanism, and belongs to the field of multi-unmanned-aerial-vehicle cooperative control. A model of the unmanned aerial vehicle and a directed graph of information transmission between the unmanned aerial vehicles are established along three coordinate axis directions, a distributed formation control protocol is designed, and a triggering condition of controller event triggering is constructed. Finally, the designed controller can enable the multiple unmanned aerial vehicles to reach respective expected positions of a predetermined formation shape, the speed tends to be consistent, the effect of time-varying formation stability of the multiple unmanned aerial vehicles is achieved, meanwhile, controller updating over-frequency is avoided, network resource loss is reduced, and the method is suitable for scenes and battlefields with tasks changing complexly. 本发明公开了一种基于事件触发机制的多无人机时