Nonlinear Mathematical Modeling and Robust Control of UAV Formation Under Parametric Variations and External Disturbances

Claudia Verónica Vera Vaca, Stefano Di Gennaro, Claudia Carolina Vaca García and Cuauhtémoc Acosta Lúa ()
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Claudia Verónica Vera Vaca: Centro Universitario de la Ciénega, Universidad de Guadalajara, Ocotlán 47820, Jalisco, Mexico
Stefano Di Gennaro: Department of Information Engineering, Computer Science and Mathematics of University of L’Aquila, Coppito, 67100 L’Aquila, Italy
Claudia Carolina Vaca García: Centro Universitario de la Ciénega, Universidad de Guadalajara, Ocotlán 47820, Jalisco, Mexico
Cuauhtémoc Acosta Lúa: Centro Universitario de la Ciénega, Universidad de Guadalajara, Ocotlán 47820, Jalisco, Mexico

Mathematics, 2025, vol. 13, issue 9, 1-25

Abstract: This paper introduces a robust formation control strategy for Unmanned Aerial Vehicles (UAVs) designed to maintain coordinated trajectories and relative positioning in three-dimensional space. The proposed methodology addresses the challenges of parametric uncertainties and external disturbances by employing a backstepping-based framework with integrated proportional-integral virtual controls. The control strategy stabilizes tracking errors in the x , y , and z axes, ensuring that the UAVs maintain a cohesive formation even in the presence of dynamic model variations and environmental perturbations. The approach combines dynamic models of UAV motion, incorporating translational and rotational behaviors, with a decomposition of relative distances in the leader’s local reference frame to ensure precise formation control. This framework enhances stability, trajectory tracking, and disturbance rejection. Validation through MATLAB-Simulink simulations demonstrates the effectiveness of the proposed strategy, showcasing its ability to maintain formation and trajectory adherence under diverse operating conditions. The results emphasize the robustness and flexibility of the control approach, making it suitable for demanding applications requiring precise multi-UAV coordination.

Keywords: robust control; formation control; Unmanned Aerial Vehicles; disturbances estimation (search for similar items in EconPapers)
JEL-codes: C (search for similar items in EconPapers)
Date: 2025
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