Robust formation flight control system design for Multi-UAVs

Based on the wind tunnel test data of actual unmanned aircraft, the dynamics and kinematics nonlinear model is established. Firstly, the robustness control system of a single unmanned aircraft is designed by the stochastic robustness analysis and design method. Secondly, based on the inner loop stability of single aircraft, a formation flight control method based on the Leader-follower model in three dimensions is proposed. Finally, simulations results of some type of unmanned aircraft formation flight trajectory show the effectiveness of the proposed method.