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UAV swarm formation control based on adaptive finite-time observer disturbance

Unmanned aerial vehicles (UAVs) have undergone rapid development over the past few decades, and their mission capabilities and low-cost advantages have become increasingly promising. Moreover, as the multi-UAV coordination technology advances, scientists and engineers are paying growing attention to the small UAV swarm, and its application scope is continually expanding. In this paper, the formation control problem of UAV swarms in the presence of unknown disturbances is addressed. Firstly, to reliably estimate its unknown disturbances, a finite-time disturbance observer is designed based on adaptive gains. Secondly, the swarm UAVs were split into two groups, one group was able to achieve the desired absolute positions of the desired formation while the other was unable. Based on this, for each UAV, a formation controller with a unified form consisting of absolute position error, relative position error, absolute velocity error, relative velocity error, and estimation of unknown disturbances is proposed, and a suitable condition is found for the controller. Finally, to validate the efficacy of the proposed method, four simulation experiments are performed.