A Multi-UAVs Formation Control Design Method with Disturbance Rejection for Under-Actuated Cascaded Two Loop Mechanism

In this paper, a novel peak-to-peak gain scheduling algorithm is proposed for multi- UAV formulation control tasks, where the integrated under-actuated cascade control mechanism is endowed with abilities of magnitude bounded disturbance rejection and formation structure maintenance during motion. Sufficient conditions in terms of LMI and BMIs are established to permit the overall tracking systems' stability, the invariant set property, the peak-to-peak gain constraint, and the bounded initial tracking error constraints. These conditions can be readily solved to obtain the final controller gain. Several typical groups of simulations on multi-UAVs formulation control are carried out to validate the proposed algorithm.