Tacking Control of Multi-UAV formation under interference

In this paper, the matching of position tracking and flight speed in multi-UAV formation control is studied, and the hierarchical control strategy based on the virtual structure method is constructed. Firstly, a second-order dynamic model with disturbances is introduced to address the inadequacy of the traditional first-order dynamics model lack of consideration for the coupling of position and attitude loops. Secondly, a high-level formation controller based on the sliding mode theory is designed. Further, based on the output information of the high-level, a fractional order terminal sliding mode low-level controller is proposed to ensure the robustness of the formation tracking process. In addition, a neural network-based sliding mode observer is designed to approximate the uncertainty of the system to improve the immunity to interference. Finally, simulation experiments verify the effectiveness of the proposed strategy,