A novel backstepping method for the three-dimensional multi-UAVs formation control

In this paper, we propose a control method based on the backstepping technique and leader-follower strategy for the multiple Unmanned Aerial Vehicles (UAVs) formation control in three-dimensional space. Compared with the existing methods, the main contribution of the proposed algorithm is aiming to the dynamics of the UAV with the control inputs of the load factors rather than the angles of the rudders, which is commonly used in actual modern flight control. In addition, to solve the problem of the communication jam, we adopt the state estimation method based on the graph theory. Finally, the numerical simulations are performed to show the effectiveness of the proposed method.