Adaptive formation control of UAVs in the presence of unknown vortex forces and leader commands

In this paper, stable adaptive formation control algorithms for two-dimensional models of aircraft are developed in the presence of unknown leader commands and disturbances due to vortex effects. The analysis is presented in the leader-follower frame for three cases of unknown leader commands and vortex forces in the velocity and heading angle dynamics. The algorithms are applied to the formation flight control of two UAVs. Simulation results show that the follower follows precisely the leader in the presence of uncertainties in the aerodynamic coefficients and leader commands