Distributed antidisturbance formation control for UAVs under disturbance based on terminal sliding mode control

2026-05-02

PRE

Qi Wang

null Siwen

Yi Yang *

DOI：10.1016/j.isatra.2026.04.041

Original

Original request for help

Save

Abstract

En 中文

• Terminal sliding-mode control achieves robust distributed formation for UAVs. • Real-time multidimensional estimator tackles unknown disturbance and rate. • Dynamic trajectory planning enhances smoothness and inter-UAV coordination. • Disturbance compensation reduces formation error by over 80% in tests. • Method validated in real flight with improved precision under external disturbance.

Keywords:

Terminal sliding-mode control

Distributed formation control

Disturbance compensation

UAVs

Dynamic trajectory planning

Distributed antidisturbance formation control for UAVs under disturbance based on terminal sliding mode control

Abstract

Journal

Organization

Cited Papers

Citing Papers