Adaptive Wind Disturbance Rejection Formation Control for Multiple UAVs

This paper proposes a formation control strategy for quadrotor unmanned aerial vehicles (UAVs) operating under wind disturbances, utilizing solely bearing measurement information. Initially, the dynamic model that incorporates the effects of wind disturbances on both position and orientation is established. Subsequently, adaptive estimation techniques are employed to compensate for the adverse impacts of wind disturbances on the flight performance of the quadrotor UAV system, thereby enhancing its operational stability and reliability. Next, the negative gradient method is applied to optimize the UAV system towards achieving the desired bearing rigid formation. Meanwhile, the backstepping method is utilized to design the formation control law based exclusively on bearing measurements. Additionally, consensus algorithms are implemented to ensure uniformity in the attitudes of the UAVs, thus maintaining alignment within the formation. Ultimately, simulation results validate the effectiveness of the proposed formation control algorithm.