A robust adaptive formation control methodology for networked multi-UAV systems with applications to cooperative payload transportation

This paper develops a new robust adaptive formation control methodology for networked multi-UAV systems to solve the cooperative payload transportation problem. This methodology offers a simple yet effective technique for object transportation relying on the formation tracking principle in the presence of bounded exogenous disturbances. Compared to existing techniques, the proposed method resorts to the σ-modification approach to resolve the parameter drift phenomenon. The ultimate boundedness of the formation tracking error dynamics is established by utilising Lyapunov theory. In addition, the proposed scheme does not involve any multi-body dynamics problem, nor does it require any reference model, disturbance filter/estimator or any prior knowledge of the disturbances. As a result, it reduces the overall complexity of the formation control scheme. The paper includes extensive simulation case studies accompanied by lab-based experimental validation results conducted on a group of nano quadcopter UAVs to demonstrate the feasibility and performance of the controller. The paper also projects a potential application of the proposed scheme in cooperative payload transportation missions.