Optimal Formation Tracking Control for Multi-UAVs System with Uncertain Dynamics and Unknown Disturbance

This paper addresses the optimal control problem for multi-UAV system with uncertain dynamics and unknown disturbance. Firstly, a finite-time extended state observer is developed to solve the external disturbance problem. The compensation control is used to compensate for the influence of the disturbances. Secondly, the optimal control of the nominal system is obtained by the adaptive dynamic programming (ADP) method. Based on the output of the finite-time extended state observer, compensation control is used to compensate the disturbance to reduce its influence on system performance. By utilizing the Lyapunov's method, the stability of the closed-loop system and the convergence of the estimation weight for critic network are guaranteed. Finally, the simulation results show the effectiveness of the method.