Robust Flight-Path Angle Consensus Tracking Control for Non-Minimum Phase Unmanned Fixed-Wing Aircraft Formation in the Presence of Measurement Errors

The robust flight-path angle consensus tracking control problem for multiple unmanned fixed-wing aircrafts is investigated in this paper, where the non-minimum phase properties and presence of measurement errors are systematically addressed. A three-module scheme proposed each aircraft: a Distributed Observer that obtains available information from reference system neighbor aircraft to provide estimates states; Casual Stable Inversion calculates bounded desired input, external states, most importantly, internal states resolve divergence issues caused by properties; Local Measurement Error Rejection Controller includes error estimator (MEE) actively compensate adverse effect achieve control. Stability, convergence, robustness analyzed, showing (1) issue can be resolved designed ensure stability flight safety, (2) accuracy improved tuning single MEE parameter, which favorable practical applications large-scale formations. Comparative simulation results with classic PID-based demonstrate advantage transient oscillations, steady-state accuracy, against errors.