In recent times,multiple Unmanned Aerial Vehicles(UAVs)are being widely utilized in several areas of applications such as agriculture,surveillance,disaster management,search and res-cue operations.Degree of robustness of applied control schemes determines how accurate a swarm of UAVs accomplish group tasks.Formation and trajectory tracking controllers are required for the swarm of multiple UAVs.Factors like external environmental effects,parametric uncertainties and wind gusts make the controller design process as a challenging task.This article proposes frac-tional order formation and trajectory tacking controllers for multiple quad-rotors using Super Twisting Sliding Mode Control(STSMC)technique.To compensate the effects of the disturbances due to parametric uncertainties and wind gusts,Lyapunov function based adaptive controllers are formulated.Moreover,Lyapunov theorem is used to guarantee the stability of the proposed controllers.Three types of controllers,namely fixed gain STSMC and fractional order Adaptive Super Twisting Sliding Mode Control(ASTSMC)methods are tested for the swarm of UAVs by performing the numerical simulations in MATLAB/Simulink environment.From the presented results,it is verified that in presence of wind disturbances and parametric uncertainties,the proposed fractional order ASTSMC technique showed improved robustness as compared to the fixed gain STSMC and integer order ASTSMC.

Nasim ULLAH;Yasir MEHMOOD;Jawad ASLAM;Shaoping WANG;Khamphe PHOUNGTHONG

Environmental Assessment and Technology for Hazardous Waste Management Research Center,Faculty of Environmental Management,Prince of Songkla University,Songkhla 90112,Thailand;Department of Electrical Engineering,College of Engineering Taif University,Al-Hawiyah,Taif P.O Box:888,Kingdom of Saudi Arabia;School of Mechanical and Manufacturing Engineering,NUST,Islamabad 44000 Pakistan;School of Automation Science and Electrical Engineering,Beihang University,Beijing 100083,China;Faculty of Environmental Management,Prince of Songkla University,Songkla,90112,Thailand

中国航空学报（英文版）

[1]Nasim ULLAH;Yasir MEHMOOD;Jawad ASLAM;Shaoping WANG;Khamphe PHOUNGTHONG-.Fractional order adaptive robust formation control of multiple quad-rotor UAVs with parametric uncertainties and wind disturbances)[J].中国航空学报（英文版）,2022(08):204-220

tacking,STSMC,ASTSMC

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