Predefined-Time Distributed Formation Control for Large Scaled UAVs Inspired by Pigeon Flock Behavior

This paper investigates observer-based distributed formation control for multiple UAVs over a directed topology containing a directed spanning tree. Inspired by the hierarchical behavior of pigeon flocks, a leader–follower topology and a cascaded prescribed-time distributed observer (PsTDO) are designed using pigeon-inspired neighbor selection rules to estimate a virtual leader’s position and velocity. A predefinedtime sliding-mode surface (PdTSMS) and a nonlinear compensation term are then introduced to construct a predefined-time distributed formation controller (PdTDFC). A quadratic Lyapunov analysis establishes the convergence guarantee. Numerical simulations and comparisons with finite-time and fixed-time methods demonstrate faster convergence and smaller tracking errors.