Robust adaptive design for line-of-sight based on unmanned aerial vehicle formation control

Considering the nonlinearity and uncertainty of line-of-sight(LOS) based unmanned aerial vehicle(UAV) formation flight dynamics,a robust adaptive control method is proposed to design the formation flight control system.Firstly,the LOS based on formation flight control model is established.Then,the model is inverted to the 'pseudo-controls' form,the pseudo-control is constructed from the outputs of reference models,the proportional-derivative controller outputs and neural network(NN) adaptive outputs,the NN which is training by the outputs of the error observer is used to compensate unmodeled dynamics,the errors are proved bounded by Lyapunov theory,the pseudo-control hedging(PCH) is proposed to prevent the actuator from rate and position limits.Finally,the simulation is accomplished based on 6-degree-of-freedom nonlinear UAV model,the simulation results show that the follower can track the leader which is flying with uncertain maneuvers well.