The UAVs formation Tracking Control with Obstacle Avoidance and Distributed Prescribed Performance

This paper investigates a distributed robust tracking control under obstacle avoidance constraints and unknown external disturbance for unmanned aerial vehicles (UAVs) formation. First, a formation cooperative control model with UAV system under top view is established. Second, to solve the internal obstacle avoidance, a distributed prescribed performance function is presented to design the restricted movement regions to guarantee the trajectory of each system moving within a prescribed region. Through constructing the state auxiliary variables of the adjacent information of the UAVs formation under the prescribed performance function and directed topology, a distributed robust tracking control scheme is studied to perform formation tracking with unknown external disturbance and obstacle avoidance. Finally, simulations illustrate the effectiveness of the approach.