针对多无人机系统的区域编队控制问题，设计了一种基于一致性的区域编队控制协议，为通信时延影响下的多无人机系统提供了新的解决方案。首先，设计了吸引势场力和排斥势场力，确保无人机在保持机间安全距离的前提下，朝目标区域飞行。随后，基于一致性方法设计了受通信时延影响的编队控制协议。然后，利用Lyapunov稳定性分析法证明了所设计控制协议的稳定性。最后，通过数值仿真验证了该分布式多无人机编队控制协议的有效性，结果表明该协议能够实现多无人机的区域编队控制。

A consensus-based region formation control protocol was proposed for the problem of region formation control of multi-unmanned aerial vehicle(UAV) systems, providing a new solution for multi-UAV systems with communication delay. Firstly, the attraction potential field force and repulsion potential field force were designed to ensure that the UAVs fly towards the target area and complete the formation control in the area. Subsequently, a formation control protocol affected by communication delay was designed based on the consensus method. Then, the stability of the designed control protocol was demonstrated using Lyapunov stability analysis. Finally, the effectiveness of the distributed multi-UAV formation control protocol was verified by numerical simulation, and the results showed that the protocol can realize the region formation control of UAVs.