Path driven formation-containment control of multiple UAVs: A path-following framework

Fixed‐time disturbance observer based distributed cooperative containment control with fixed‐time anti‐saturation compensator for multi‐unmanned aerial vehicles

“…where k 01 , k 02 , k 𝜉1 , k 𝜉1 are positive constants, p > 0, r 1 < 1, r 2 > 1, and the estimated error Δi1 = Δ i1 − Δ i1 , Δ i1 is obtained by the FxTDO (10) to compensate for the influence of velocity subsystem interference.…”

“…The designed FxTDO (10) can be used to accurately estimate Δ i2 . The virtual pitch angle control law 𝜃 id is designed as…”

“…Remark 4. The filter error y i1 , y i2 , and y i3 convergence analysis is similar to the analysis process of FxTDO (10), which will not be repeated here due to space limitations.…”

“…Recently, several results have been obtained to achieve the containment control of multi‐UAVs. In Reference 10, a two‐layer control design tackles a formation‐containment control problem of networked multi‐UAVs following multiple implicit curves with the path‐following framework. For the multi‐fixed‐wing UAVs control problem that considers both faults and collision avoidance, a fault‐tolerant containment control is proposed in Reference 11.…”

Detection and defense of time‐varying formation for unmanned aerial vehicles against false data injection attacks and external disturbance

“…Formation control for unmanned aerial vehicles (UAVs) has developed rapidly over the past few decades due to its potential applications in numerous fields 1‐6 . In some applications, special tasks may first require multiple UAVs to form a predefined formation, and the whole formation needs to track the desired trajectory.…”