中文摘要：

多无人机协同是未来无人机应用的重要方式,多无人机编队作为多无人机协同的重要技术和研究热点也已引起越来越多关注,分布式无人机相较于集中式具有灵活性好、鲁棒性强,对通信及计算机性能要求低等优点;针对无人机的非线性动力学模型,在有向固定拓扑的条件下,运用高阶一致性理论解决无人机系统的分布式编队问题;基于Lyapunov稳定性原理,利用线性矩阵不等式（LMI）,分别得出在具有时变时延导数信息及无导数信息情况下的稳定性充分条件;最后,仿真验证了这种编队控制方法的有效性;研究结果表明,利用文章所提出的方法控制无人机编队飞行,在满足稳定性的前提下,无人机系统能够形成稳定的编队,并达到预期速度。

英文摘要：

For unmanned aerial vehicle,（UAV）nonlinear kinetic model,the paper utilized the high-order consensus theory to solve the distributed UAVs＇ formation problem with fixed directed topology.Based on Lyapunov stability principle,by solving linear matrix inequality（LMI）,sufficient conditions of stability is obtained as well as time delay with and without derivative information.At last,The simulation example is used to verify the effectiveness of the control method.The results of the research show that when the stability condition is satisfied,the UAVs＇ formation control method the paper proposed could guide the multi-UAVs system asymptotically to converge to the desired velocity and shape the desired formation.