This paper investigates the formation problem of multiple fixed-wing unmanned aircraft vehicles (UAVs) based on virtual leader structure, subjecting to unknown uncertainties and bounded disturbances. A distributed model reference robust adaptive controller (DMRRAC) is proposed to swiftly construct the formation under the existence of flight dynamical uncertainties and external bounded disturbances. An adaptive projection formation operator and a novel high-frequency robust term can guarantee the system to be uniformly asymptotically stable in a complex situation, which can also enhance the performance of the system such as robustness. Simulation confirms the feasibility and effectiveness of the proposed distributed control algorithm.
Distributed Robust Adaptive Control for Cooperative Formation of Uncertain Multiple Fixed-Wing UAVs with Disturbances
Lect. Notes Electrical Eng.
Proceedings of 2021 5th Chinese Conference on Swarm Intelligence and Cooperative Control ; Kapitel : 140 ; 1498-1509
29.07.2022
12 pages
Aufsatz/Kapitel (Buch)
Elektronische Ressource
Englisch
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