Zhang, QingruiLiu, Hugh H. T.2018-11-062018-11-06May-18978-1-77355-023-7http://hdl.handle.net/10315/35252http://dx.doi.org/10.25071/10315/35252This paper investigates the close formation control problem of multiple unmanned aerial vehicles (UAVs). A robust cooperative control algorithm is proposed in light of the uncertainty and disturbance estimation technique. In the proposed design, each UAV is assigned a virtual leader which defines the desired position for the corresponding UAV in close formation. Bidirectional communication topology is assumed for UAVs in close formation, based on which a cooperative control law is thereafter established on each UAV. Model uncertainties and formation aerodynamic disturbances are efficiently estimated and compensated using a uncertainty and disturbance estimator. Eventually, the efficacy of the proposed design will be validated via the close formation simulation of five aircraft.enThe copyright for the paper content remains with the author.MechatronicsRobots and ControlTransportation SystemsComponentClose formation controlCooperative controlMulti-UAVUncertainty and disturbance estimationArticleMechatronics