[2] REN W,BEARD R W.Distributed consensus in multi-vehicle cooperative control theory and applications［M］.New York: Spring,2008.

[4] MATTHEW T,NATHAN M,VIJAY K.Trajectory design and control for aggressive formation flight with quadrotors［J］.Auton Robot,2012,33: 143-156.

[6] OLFATI-SABER R,FAX J A,MURRAY R M.Consensus and cooperation in networked multi-agent system［C］//Proceedings of the IEEE,2007: 215-233.

[7] WEI R,ELLA A.Distributed multi-vehicle coordinated con-trol via local information exchange［J］.Robust Nonlinear Control,2007,17: 1002-1033.