formation control for unmanned aerial vehicles with markovian switching network topologies

This paper considers time-varying formation control of unmanned aerial vehicle swarm systems with markovian switching topologies . the formation problem is transformed to the consensus problem, then for achieving to this goal , the consensus protocol is presented. by using lyapunov functional approach and algebraic ricatti equation, the proper control is designed. in designing control gain , switching communication topologies are considered and control goals are obtained by a common control protocol. switching topologies are generated by a time-homogeneous markov process and union of topologies has important role in control gain. finally, numerical simulation is presented to show theoretical results.