Robust Control for Unmanned Aerial Vehicles Formation Based on Adaptive Disturbance Observer

A robust formation control based on adaptive disturbance observer is designed for the parameter perturbation and uncertainty in fixed-wing unmanned aerial vehicle (UAV) formation. To this end, the leader-follower formation model and the UAV model are described. Then, the inner loop robust control is designed to track the command signal produced by the out loop formation controller. In the robust control, the parameter adaptive laws are introduced to estimate the parameter perturbation, the adaptive disturbance observer is designed to compensate uncertainty and the stability analysis is given by the Lyapunov function. Finally, simulation results demonstrate the effectiveness and potential for this robust formation control.