UAV formations control using high order sliding modes

Formations of unmanned aerial vehicles´ (UAV) using high/second order sliding mode (HOSM/SOSM) controllers are studied. The purpose of the study is to control the formation of several agents, or a swarm of UAVs, using robust and continuous controllers to achieve leader/followers collision-free path-tracking formation in the presence of unknown bounded disturbances acting on each UAV. A strategic formation expansion process is developed allowing extensive formation of n agents through a chain of predefined strategies. Computer simulations of three, four, and six UAVs demonstrate a collision-free flight formation while continuing on a specific path. All formations remain in the presence of unknown bounded disturbances via bounded, robust, accurate and continuous SOSM controls, specifically applying super-twist control method