Multi-UAV Formation Control Based on Parameter Optimization ADRC

This paper considers the problem of multiple unmanned aerial vehicles (UAVs) formation in a wind disturbance environment. An anti-disturbance formation control method is proposed to prevent environmental disturbance while ensuring the formation. By introducing the active disturbance rejection control (ADRC) of each UAV in the consensus-based algorithm structure, the stability of the formation system can be significantly improved. Moreover, particle swarm optimization (PSO) is used to optimize the connection weight between ADRC and consensus control, to ensure that the advantages of the two control theories are better combined, so that the controlled system has stronger robustness and better dynamic quality. Finally, a simulation example is provided to verify the effectiveness of the control method.