Adaptive Fixed-time Observer-based Formation Robust Control of Fixed-wing UAV with Multiple Leaders

In this paper, the fixed-wing UAV formation control problems with multiple leaders is studied. For this UAV system, an adaptive fixed-time observer is proposed to observe the convex combination of multiple leaders. Adaptive parameters eliminate the need for followers to know both the input information of leaders and its upper bound, reducing the need for information acquisition. The proof of observer stability based on Lyapunov stability theory shows that the observation errors converge to the neighborhood of the origin within fixed-time. At the same time, the adaptive robust controller is designed for the followers considering external disturbances, so that the system has strong anti-disturbance ability. The proof of controller stability based on Lyapunov stability theory shows that the state errors converge to the neighborhood of the origin exponentially. Finally, the effectiveness of the method is proved through simulation.