UUB control of multi-equilibrium UAV elastic formation

This paper applies the idea of switched system in UAV (Unmanned Aerial Vehicle) formation firstly, which has prospective significance. A switched UUB (Uniformly Ultimately Bounded) controller is designed brilliantly, and after a series of mathematical manipulation the dynamic equation of UAV system which has Double-Equilibrium is derived skillfully, and its stability is proved with Lyapunov method. More than that, the concept of elastic distance vector is applied into the system to enhance the control effect. Simulation is made to verify the switching effect, the results of simulation also indicate the smoothness of the switched controller.