Adaptive Fractional Order Sliding Mode Control for UAVs Formation with Actuator Faults

In this article, the distributed tracking control problem is studied for the unmanned aerial vehicles (UAVs) formation with actuator faults and external disturbances. In order to make the UAVs formation have superior tracking performance during the mission, an adaptive fractional order sliding mode (FOSM) controller with great dynamic performance is proposed. The adverse effects of actuator faults and external disturbances are considered during the flight, and cerebellar model articulation neural networks (CMANN) are introduced to approximately compensate the effects of actuator faults and unknown disturbances. At the same time, it guarantees the global stability of the closed-loop system under the controller, and the simulation example verifies that the method has certain advantages in practical applications.