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Robust safety formation control for multiple unmanned helicopters

The fully distributed robust formation control of unmanned helicopters (UHs) with external disturbances and model uncertainty capability is investigated. In the position loop and the attitude loop, continuous fast robust controllers are proposed, and an integral filter is introduced between two loop. The stability of the whole closed-loop system is guaranteed through Lyapunov theory and input-to-state stability (ISS). Compared to the previous related works, our main contribution is that the proposed adaptive control strategy is fully distributed and scalable, which is independent any global information of the network graph and is independent of the UHs’s scale and we proved the stability of the closed-loop. Finally, the effectiveness and superiority of the designed strategy are demonstrated by numerical simulations.