Nonlinear Mathematical Modeling and Robust Control of UAV Formation Under Parametric Variations and External Disturbances
This paper introduces a robust formation control strategy for Unmanned Aerial Vehicles (UAVs) designed to maintain coordinated trajectories and relative positioning in three-dimensional space. The proposed methodology addresses the challenges of parametric uncertainties and external disturbances by...
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| Format: | Article |
| Language: | English |
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MDPI AG
2025-05-01
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| Series: | Mathematics |
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| Online Access: | https://www.mdpi.com/2227-7390/13/9/1520 |
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| author | Claudia Verónica Vera Vaca Stefano Di Gennaro Claudia Carolina Vaca García Cuauhtémoc Acosta Lúa |
| author_facet | Claudia Verónica Vera Vaca Stefano Di Gennaro Claudia Carolina Vaca García Cuauhtémoc Acosta Lúa |
| author_sort | Claudia Verónica Vera Vaca |
| collection | DOAJ |
| description | This paper introduces a robust formation control strategy for Unmanned Aerial Vehicles (UAVs) designed to maintain coordinated trajectories and relative positioning in three-dimensional space. The proposed methodology addresses the challenges of parametric uncertainties and external disturbances by employing a backstepping-based framework with integrated proportional-integral virtual controls. The control strategy stabilizes tracking errors in the <i>x</i>, <i>y</i>, and <i>z</i> axes, ensuring that the UAVs maintain a cohesive formation even in the presence of dynamic model variations and environmental perturbations. The approach combines dynamic models of UAV motion, incorporating translational and rotational behaviors, with a decomposition of relative distances in the leader’s local reference frame to ensure precise formation control. This framework enhances stability, trajectory tracking, and disturbance rejection. Validation through MATLAB-Simulink simulations demonstrates the effectiveness of the proposed strategy, showcasing its ability to maintain formation and trajectory adherence under diverse operating conditions. The results emphasize the robustness and flexibility of the control approach, making it suitable for demanding applications requiring precise multi-UAV coordination. |
| format | Article |
| id | doaj-art-4f9d0fbaa35440a997eb10f079957448 |
| institution | DOAJ |
| issn | 2227-7390 |
| language | English |
| publishDate | 2025-05-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Mathematics |
| spelling | doaj-art-4f9d0fbaa35440a997eb10f0799574482025-08-20T02:58:47ZengMDPI AGMathematics2227-73902025-05-01139152010.3390/math13091520Nonlinear Mathematical Modeling and Robust Control of UAV Formation Under Parametric Variations and External DisturbancesClaudia Verónica Vera Vaca0Stefano Di Gennaro1Claudia Carolina Vaca García2Cuauhtémoc Acosta Lúa3Centro Universitario de la Ciénega, Universidad de Guadalajara, Ocotlán 47820, Jalisco, MexicoDepartment of Information Engineering, Computer Science and Mathematics of University of L’Aquila, Coppito, 67100 L’Aquila, ItalyCentro Universitario de la Ciénega, Universidad de Guadalajara, Ocotlán 47820, Jalisco, MexicoCentro Universitario de la Ciénega, Universidad de Guadalajara, Ocotlán 47820, Jalisco, MexicoThis paper introduces a robust formation control strategy for Unmanned Aerial Vehicles (UAVs) designed to maintain coordinated trajectories and relative positioning in three-dimensional space. The proposed methodology addresses the challenges of parametric uncertainties and external disturbances by employing a backstepping-based framework with integrated proportional-integral virtual controls. The control strategy stabilizes tracking errors in the <i>x</i>, <i>y</i>, and <i>z</i> axes, ensuring that the UAVs maintain a cohesive formation even in the presence of dynamic model variations and environmental perturbations. The approach combines dynamic models of UAV motion, incorporating translational and rotational behaviors, with a decomposition of relative distances in the leader’s local reference frame to ensure precise formation control. This framework enhances stability, trajectory tracking, and disturbance rejection. Validation through MATLAB-Simulink simulations demonstrates the effectiveness of the proposed strategy, showcasing its ability to maintain formation and trajectory adherence under diverse operating conditions. The results emphasize the robustness and flexibility of the control approach, making it suitable for demanding applications requiring precise multi-UAV coordination.https://www.mdpi.com/2227-7390/13/9/1520robust controlformation controlUnmanned Aerial Vehiclesdisturbances estimation |
| spellingShingle | Claudia Verónica Vera Vaca Stefano Di Gennaro Claudia Carolina Vaca García Cuauhtémoc Acosta Lúa Nonlinear Mathematical Modeling and Robust Control of UAV Formation Under Parametric Variations and External Disturbances Mathematics robust control formation control Unmanned Aerial Vehicles disturbances estimation |
| title | Nonlinear Mathematical Modeling and Robust Control of UAV Formation Under Parametric Variations and External Disturbances |
| title_full | Nonlinear Mathematical Modeling and Robust Control of UAV Formation Under Parametric Variations and External Disturbances |
| title_fullStr | Nonlinear Mathematical Modeling and Robust Control of UAV Formation Under Parametric Variations and External Disturbances |
| title_full_unstemmed | Nonlinear Mathematical Modeling and Robust Control of UAV Formation Under Parametric Variations and External Disturbances |
| title_short | Nonlinear Mathematical Modeling and Robust Control of UAV Formation Under Parametric Variations and External Disturbances |
| title_sort | nonlinear mathematical modeling and robust control of uav formation under parametric variations and external disturbances |
| topic | robust control formation control Unmanned Aerial Vehicles disturbances estimation |
| url | https://www.mdpi.com/2227-7390/13/9/1520 |
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