This book is based on the authors' recent research results on formation
control problems, including time-varying formation, communication
delays, fault-tolerant formation for multiple UAV systems with highly
nonlinear and coupled, parameter uncertainties, and external
disturbances.
Differentiating from existing works, this book presents a robust optimal
formation approach to designing distributed cooperative control laws for
a group of UAVs, based on the linear quadratic regulator control method
and the robust compensation theory. The proposed control method is
composed of two parts: the nominal part to achieve desired tracking
performance and the robust compensation part to restrain the influence
of highly nonlinear and strongly coupled parameter uncertainties, and
external disturbances on the global closed-loop control system.
Furthermore, this book gives proof of their robust properties. The
influence of communication delays and actuator fault tolerance can be
restrained by the proposed robust formation control protocol, and the
formation tracking errors can converge into a neighborhood of the origin
bounded by a given constant in a finite time. Moreover, the book
provides details about the practical application of the proposed method
to design formation control systems for multiple quadrotors and
tail-sitters. Additional features include a robust control method that
is proposed to address the formation control problem for UAVs and
theoretical and experimental research for the cooperative flight of the
quadrotor UAV group and the tail-sitter UAV group.
Robust Formation Control for Multiple Unmanned Aerial Vehicles is
suitable for graduate students, researchers, and engineers in the system
and control community, especially those engaged in the areas of robust
control, UAV swarming, and multi-agent systems.
