Time-Varying Formation Control with Robust Disturbance Rejection for Multi-UAVs

External disturbances and formation switching peaks affect the tracking performance of formations. This paper proposes a robust formation control method with peak suppression capability. First, to reduce the impact of external disturbances on tracking performance, a position loop and an attitude loop controller based on a nonlinear extended state observer are designed to enhance formation robustness. Then, to address sudden increases in position error during formation transitions that lead to controller output peaks, a saturation constraint mechanism is incorporated into the position loop to effectively suppress these peaks. The stability of the closed-loop system is proven using Lyapunov theory. Finally, numerical simulations demonstrate that the proposed method achieves excellent disturbance rejection and peak suppression performance.