Robust Control for UAV Close Formation Using LADRC via Sine-Powered Pigeon-Inspired Optimization

This paper designs a robust close-formation control system with dynamic estimation and compensation to advance unmanned aerial vehicle (UAV) flights an engineer-implementation level. To characterize the wake vortex effect analyze sweet spot, continuous horseshoe method high accuracy is employed model vortex. The will be implemented in trailing UAV steer it spot hold its position. Considering characteristics of UAV, designed divided into three subsystems for longitudinal, altitude, lateral channels. Using linear active-disturbance rejection (LADRC), subsystem each channel composed two cascaded first-order LADRC controllers. One responsible outer-loop position other used stabilize inner-loop attitude. scheme can significantly reduce coupling effects between channels effectively suppress transmission disturbances caused by effect. Due cascade structure subsystem, correlation among parameters very high. Therefore, sine-powered pigeon-inspired optimization proposed optimize channel. simulation results close formations show that achieve stable performance within expected error range maximize aerodynamic benefits UAV.