Robust Cooperative Close Formation Flight Control Of Multiple Unmanned Aerial Vehicles
Liu, Hugh H. T.
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This 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.