@inproceedings{1efe3914ae8e4e90b5bbf749fc3cd295,
title = "Distributed Dynamic Event-Triggered Formation Control with Disturbance Observer for Multi-UAV Systems",
abstract = "This paper proposes a distributed UAV formation controller for networks subject to external disturbances and limited bandwidth. By combining a distributed, ISS-based disturbance observer with a dynamic event-triggering mechanism, the approach achieves formation consensus via intermittent neighbor communications while avoiding high-dimensional LMI co-design. Lyapunov analysis establishes global asymptotic stability and excludes Zeno behavior. Simulations on a 3D spiral ascent with five UAVs demonstrate fast tracking, accurate disturbance estimation, and significantly fewer transmissions, highlighting scalability and communication efficiency for multi-agent coordination.",
keywords = "UAV formation, distributed control, disturbance observer, dynamic event-triggering",
author = "Yingjia Wang and Liang Han and Xiaoduo Li and Zhang Ren",
note = "Publisher Copyright: {\textcopyright} The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2026.; 9th Chinese Conference on Swarm Intelligence and Cooperative Control, CCSICC 2025 ; Conference date: 31-10-2025 Through 03-11-2025",
year = "2026",
doi = "10.1007/978-981-95-8329-4\_52",
language = "英语",
isbn = "9789819583287",
series = "Lecture Notes in Electrical Engineering",
publisher = "Springer Science and Business Media Deutschland GmbH",
pages = "650--662",
editor = "Yongzhao Hua and Yishi Liu and Rui Yan",
booktitle = "Proceedings of 2025 9th Chinese Conference on Swarm Intelligence and Cooperative Control - Swarm Optimization Technologies",
address = "德国",
}