Distributed FTCC of Multi-UAVs with Multiple Leader UAVs

In general, cooperative control problem can be classified into three aspects: regulation problem, leader–follower tracking control problem with one leader, and containment control problem with multiple leaders (Cao et al. (Automatica 48(8):1586–1597, 2012), Cao et al. (IEEE Trans Control Syst Technol 19(4):929–938, 2010), Haghshenas et al. (Automatica 54:210–216, 2015), Wang and Wang (Automatica 103:418–423, 2019), Wen et al. (IEEE Trans Circuits Syst I-Regul Pap 61(2):499–511, 2013), Zuo et al. (IEEE Trans Autom Control 63(2):563–570, 2017)). For the regulation problem (also known as leaderless consensus), each UAV in the communication network is driven to an unprescribed state, and all UAVs eventually achieve consensus. For the tracking control problem with one leader, all follower UAVs try to track the trajectory of leader UAV. Compared with the regulation problem and the tracking control problem with one leader, containment control problem involves multiple leader UAVs.