Robust Formation Control for Multiple Unmanned Aerial Vehicles

This book is based on the authors¿ recent research results on formation control problems, including time-varying formation, communication delays, fault-tolerant formation for multiple UAV systems with highly nonlinear and coupled, parameter uncertainties, and external disturbances.

Differentiating from existing works, this book presents a robust optimal formation approach to designing distributed cooperative control laws for a group of UAVs, based on the linear quadratic regulator control method and the robust compensation theory. The proposed control method is composed of two parts: the nominal part to achieve desired tracking performance and the robust compensation part to restrain the influence of highly nonlinear and strongly coupled parameter uncertainties, and external disturbances on the global closed-loop control system. Furthermore, this book gives proof of their robust properties. The influence of communication delays and actuator fault tolerance can be