Formation Control Technology Based on Backstepping Method with the Estimation of the Leader's State

In order to solve the problem of formation control, a cooperative control method based on backstepping method is proposed, which can make the UAV converge to the desired formation and achieve steady state. To facilitate the engineering application, the models are established by using the leader-follower formation mode, and the communication mode between the UAVs is constructed based on the graph theory. The corresponding formation control structure is devised by backstepping method, and the stability proof is given. A distributed state observer is added to estimate the state of the leader in a finite time without affecting the formation control. The simulation results show that the UAVs can quickly converge to the corresponding position and still maintain high precision during maneuvering.