A distributed robust method is developed for coopera-tive tracking control of unmanned aerial vehicles under unknown wind disturbance and model uncertainty. The communication net-work among vehicles is a directed graph with switching topology. Each vehicle can only share its states with its neighbors. Dynamics of the vehicles are nonlinear and affected by the wind disturbance and model uncertainty. Feedback linearization is adopted to trans-form the dynamics of vehicles into linear systems. To account for the wind disturbance and model uncertainty, a robust control er is designed for each vehicle such that al vehicles ultimately syn-chronize to the virtual leader in the three-dimensional path. It is theoretical y shown that the position states of the vehicles wil con-verge to that of the virtual leader if the communication network has a directed spanning tree rooted at the virtual leader. Furthermore, the robust control er is extended to address the formation control problem. Simulation examples are also given to il ustrate the effec-tiveness of the proposed method.
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