Distributed Adaptive Finite-Time Compensation Control for UAV Swarm With Uncertain Disturbances

Abstract

Aimed at the problem that the unmanned aerial vehicle (UAV) close formation cannot maintain its desired formation shape due to the wind field disturbances, a novel distributed adaptive control approach is proposed to counteract the lateral and forward distance errors caused by uncertain wind field disturbances. Firstly, based on the “leader-follower” model, an adaptive control law is designed to accurately estimate the magnitude and direction of the wind in 3-D space. Then, the distance errors caused by uncertain wind field disturbances is counteracted by controlling UAV relative movement. Moreover, their velocity can keep constant to achieve the desired formation shape. Additionally, the signals of the closed-loop system are semi-globally practical finite-time stable (SGPFS). Finally, the simulation results show that the proposed adaptive control algorithm has good robustness, which provides a theoretical basis for engineering practice.