[1] [1] KUMAR V, MICHAEL N.Opportunities and challenges with autonomous micro aerial vehicles［J］.International Journal of Robotics Research, 2012, 31(11):1279-1291.

[2] [2] NIGAM N, BIENIAWSKI S, KROO I, et al.Control of multiple UAVs for persistent surveillance:algorithm and flight test results［J］.IEEE Transactions on Control Systems Technology, 2012, 20(5):1236-1251.

[3] [3] DERAFA L, BENALLEGUE A, FRIDMAN L.Super twisting control algorithm for the attitude tracking of a four rotors UAV ［J］.Journal of the Franklin Institute, 2012, 349(2):685-699.

[4] [4] KUBE C R, ZHANG H.The use of perceptual cues in multi-robot box-pushing［C］//Proceedings of IEEE International Conference on Robotics and Automation, 1996:2085-2090.

[5] [5] CASBEER D W, KINGSTON D B, BEARD R W, et al.Cooperative forest fire surveillance using a team of small unmanned air vehicles［J］.International Journal of Systems Sciences, 2006, 37(6):351-360.

[6] [6] BREAD R W, MCLAIN T W, GOODRICH M A, et al.Coordinated target assignment and intercept for unmanned air vehicles［J］.IEEE Transactions on Robotics and Automation, 2002, 18(6):911-922.

[8] [8] BAYEZIT I, FIDAN B.Distributed cohesive motion control of flight vehicle formations［J］.IEEE Transactions on Industrial Electronics, 2013, 60(12):5763-5772.

[9] [9] BELTA C, KUMAR V.Abstraction and control for groups of robots［J］.IEEE Transactions on Robotics and Automation, 2004, 20(5):865-875.

[10] [10] LAWTON J R T, BEARD R W.A decentralized approach to formation maneuvers［J］.IEEE Transactions on Robo-tics and Automation, 2003, 19(6):933-941.

[11] [11] MASTELLONE S, STIPANOVIC D, GRAUNKE C R, et al.Formation control and collision avoidance for multi-agent non-holonomic systems:theory and experiments［J］.International Journal of Robotics Research, 2008, 27(1):107-126.

[12] [12] REN W.Consensus strategies for cooperative control of vehicle formations［J］.IET Control Theory & Applications, 2007, 1(2):505-512.

[14] [14] DONG X W, YU B C, SHI Z Y, et al.Time-varying formation control for unmanned aerial vehicles:theories and applications［J］.IEEE Transactions on Control System Technology, 2015, 23(1):340-348.

[15] [15] DONG X W, ZHOU Y, REN Z, et al.Time-varying formation control for unmanned aerial vehicles with switching interaction topologies［J］.Control Engineering Practice, 2016(46):26-36.

[17] [17] CARPENTER J R.Decentralized control of satellite formations［J］.International Journal of Robust and Nonli-near Control, 2002, 12(2/3):141-161.

[18] [18] REN W.Second-order consensus algorithm with extensions to switching topologies and reference models［C］//Proceedings of the American Control Conference, New York:IEEE, 2007:1431-1436.

[19] [19] REN W.On consensus algorithms for double-integrator dynamics［J］.IEEE Transactions on Automatic Control, 2008, 53(6):1503-1509.

[20] [20] REN W.Multi-vehicle consensus with a time-varying re-ference state［J］.System and Control Letters, 2007, 56(7/8):474-483.