Aimed at the problem that the unmanned aerial vehicle (UAV) close formation cannot maintain its desired formation shape due to the wind field disturbances, a novel distributed adaptive control approach is proposed to counteract the lateral and forward distance errors caused by uncertain wind field disturbances. Firstly, based on the “leader-follower” model, an adaptive control law is designed to accurately estimate the magnitude and direction of the wind in 3-D space. Then, the distance errors caused by uncertain wind field disturbances is counteracted by controlling UAV relative movement. Moreover, their velocity can keep constant to achieve the desired formation shape. Additionally, the signals of the closed-loop system are semi-globally practical finite-time stable (SGPFS). Finally, the simulation results show that the proposed adaptive control algorithm has good robustness, which provides a theoretical basis for engineering practice.

中文翻译：

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不确定扰动下无人机群的分布式自适应有限时间补偿控制

针对无人机紧密编队受风场扰动无法保持理想编队形态的问题，提出了一种新的分布式自适应控制方法来抵消不确定风场扰动引起的横向和前向距离误差。首先，基于“领导者-跟随者”模型，设计了一种自适应控制律来准确估计 3D 空间中的风的大小和方向。然后，通过控制无人机的相对运动来抵消不确定风场扰动引起的距离误差。此外，它们的速度可以保持恒定以实现所需的地层形状。此外，闭环系统的信号是半全局实用有限时间稳定（SGPFS）。最后，