复杂不确定性下多无人机的抗扰时变编队控制

This paper considers the time-varying anti-disturbance formation control problem for multi-UAV systems with directed topologies. A distributed extended state observer (ESO) is constructed to estimate the uncertain nonlinear dynamics and external disturbance suffered by the UAVs during the time-varying formation process. Based on the ESO, a novel distributed formation control protocol is proposed. Then, an algorithm to specify the protocol is derived and the necessary and sufficient conditions for the multi-UAV systems to achieve time-varying anti-disturbance formation are demonstrated. It is strictly proved that the time-varying anti-disturbance formation can be achieved by the multi-UAV systems under the proposed protocol in the case where the formation conditions are fully satisfied. The effectiveness of the theoretical results is finally illustrated by numerical simulations.