Self-adaptive accelerator lower limit adjusting method suitable for cluster system

The invention belongs to the technical field of unmanned aerial vehicle cluster systems, and particularly relates to a self-adaptive accelerator lower limit adjusting method suitable for a cluster system, and when a fixed-wing unmanned aerial vehicle cluster flies in a formation, accelerator lower limit self-adaptive adjustment of slave machines is carried out by taking a leading machine as a reference so as to solve the problem that the speed reduction capability of the slave machines is insufficient. Due to the fact that consistency of matching relations between different unmanned aerial vehicle accelerators and speeds is poor, the actual accelerator lower limit is possibly high, the speed reduction capacity is poor, and rapid formation convergence is difficult to achieve. According to the method, the corresponding accelerator offset is estimated according to the offset between the actual speed reduction capacity and the ideal speed reduction capacity when the slave reaches the accelerator lower limit, and