Disturbance-Utilization Data-Driven Attitude Coordination Control for Multiple UAVs With Input Saturation and Multi-Source Disturbances

This paper investigated the disturbance-utilization data-driven attitude coordination control problem for multiple uncrewed aerial vehicles (UAVs) subject to input saturation and multi-source disturbances. First, a modified projection estimation algorithm with a variable weight factor is proposed to improve the estimation ability of the unknown parameters in the dynamic linearization model. Subsequently, two discrete-time disturbance observers are designed to estimate the total unknown terms and measurable disturbances, respectively. Using the modified projection estimation algorithm and the disturbance observers, two data-driven attitude coordination control schemes are developed for disturbance compensation and disturbance utilization, respectively. The proposed disturbance-utilization control scheme can enhance system performance and reduce energy consumption while rationally utilizing the beneficial disturbances. Finally, the proposed control schemes are verified by mathematical analysis and digital simulation.