Distributed formation tracking control of multi-UAV with monotone prescribed performance

In this paper, the formation tracking control for multiple unmanned aerial vehicles (UAVs) is investigated with monotone prescribed performance control (MPPC). In order to reduce the amount of overshooting and convergence time, a novel distributed monotonic performance control scheme is proposed. Compared with the traditional prescribed performance control (PPC), the lower and upper bounds of proposed prescribed performance function are unsymmetric, which can enhance the transient performance. Moreover, an error conversion function is constructed by the MPPC to achieve the transforming of the formation tracking errors. In addition, based on second-order sliding mode differentiator and fuzzy logic system, the fully distributed adaptive formation control protocol is proposed to achieve predefined formation. Simulation is performed to demonstrate the effectiveness of the proposed control design in formation tracking control.