Orthogonal transformation based robust adaptive close formation control of multi-UAVs

Traditional coordination control of UAVs has been developed mainly based on linear models, giving local results. This paper presents an orthogonal transformation-based robust adaptive control method for close formation flight of multi-UAVs, and the result is global. Uncertain dynamics and disturbances due to vortex are explicitly addressed in control design. The overall control scheme proposed herein has simple structure and does not demand detail system dynamic information. There is no need to re-design and reprogram the control strategy even when flight condition changes. Simulation verification is included.