Dynamic modeling and delayed consensus control of multi-QUAVs under wind disturbance.

• The aerodynamic effect of wind on QUAV is analyzed, and a dynamic model of QUAV with wind disturbance is established. • By using different weight functions, wind effect on multi-QUAVs is simplified and dynamic model is established. • A multi-QUAVs formation finite time consensus control with wind disturbance and time delay is proposed. 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. [ABSTRACT FROM AUTHOR]