Hierarchical ADP-ISMC Formation Control of Fixed-Wing UAVs in Local Frames Under Bounded Disturbances

In this article, the problem of the fixed-wing UAV formation control in local frames is investigated, and a formation controller based on the distance constraints is designed. Without using the global position information, this article considers the GPS-denied environment, and the control of UAVs only depends on the relative range and relative angle information defined in local frames. Meanwhile, to simultaneously address the optimization and external disturbance issues of the system, an ADP-ISMC formation controller is designed in this article. Finally, the simulations are presented to illustrate the effectiveness of the proposed control method.