Algorithm for Adaptive Flight Control of Variable-Mass UAV

The problem of an unmanned aerial vehicle (UAV) of variable mass flight control is considered. We analyze a nonlinear model of a UAV with a point mass, which is feedback linearized to solve the mentioned problem. As a result of the transformation, there is a linear model, which contains the unknown value of the UAV mass. The control law is obtained in the form of "simple adaptive control" (SAC). The control algorithm is extended to the problem of decentralized UAVs group formation control based on the consensus protocol.