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This paper proposes a distributed UAV formation controller for networks subject to external disturbances and limited bandwidth. By combining a distributed, ISS-based disturbance observer with a dynamic event-triggering mechanism, the approach achieves formation consensus via intermittent neighbor communications while avoiding high-dimensional LMI co-design. Lyapunov analysis establishes global asymptotic stability and excludes Zeno behavior. Simulations on a 3D spiral ascent with five UAVs demonstrate fast tracking, accurate disturbance estimation, and significantly fewer transmissions, highlighting scalability and communication efficiency for multi-agent coordination.

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Distributed Dynamic Event-Triggered Formation Control with Disturbance Observer for Multi-UAV Systems

  • 会议论文

  • 发表日期：

    2026年

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  • Yingjia Wang,
  • Liang Han,
  • Xiaoduo Li,
  • Zhang Ren

摘要

This paper proposes a distributed UAV formation controller for networks subject to external disturbances and limited bandwidth. By combining a distributed, ISS-based disturbance observer with a dynamic event-triggering mechanism, the approach achieves formation consensus via intermittent neighbor communications while avoiding high-dimensional LMI co-design. Lyapunov analysis establishes global asymptotic stability and excludes Zeno behavior. Simulations on a 3D spiral ascent with five UAVs demonstrate fast tracking, accurate disturbance estimation, and significantly fewer transmissions, highlighting scalability and communication efficiency for multi-agent coordination.