Multi-UAV adaptive super-twisting integral terminal sliding mode formation control

Abstract This paper addresses issues such as model uncertainties, actuator failures, and gust disturbances in multi-quadrotor UAV formation flight. An adaptive super-twisting integral terminal sliding mode control method is proposed, incorporating a ‘Leader-Follower’ formation control strategy. The approach includes designing an adaptive super-twisting integral terminal sliding mode controller and a formation adaptive cooperative controller. Additionally, adaptive gains are utilized to manage the effects of actuator failures, gust disturbances, and ground station interference, ensuring safe formation flight. Simulation and experimental results indicate that the proposed controller can track the target trajectory within a finite time and effectively maintain formation flight.