Distributed observer-based finite-time control of moving target tracking for UAV formation.

This paper disseminated two formation control strategies for multiple unmanned aerial vehicles (multi-UAV) system of moving target tracking in a windy environment. The communication among UAVs is modeled by a directed graph. The first control strategy proposes a distributed dynamic error observer and a guidance law to make the system global uniform asymptotic stability when the wind disturbance is a known constant.