A copy of this work was available on the public web and has been preserved in the Wayback Machine. The capture dates from 2022; you can also visit the original URL.
The file type is
Robust Hierarchical Formation Control of Unmanned Aerial Vehicles via Neural-Based Observers
Herein, we investigate the robust formation control problem for a group of unmanned aerial vehicles (UAVs) with system uncertainty. A hierarchical formation control strategy is introduced to ensure the uniform ultimate boundedness of each UAV's reference tracking error. First, a group of saturated high-level virtual agents are defined to act as the trajectory planners that offer feasible position references to the actual UAVs. A sliding mode neural-based observer is then constructed to estimatedoi:10.3390/drones6020040 fatcat:kuq2y3ygqvcojjslxq67p25via