Formation control for multiple heterogeneous unmanned aerial vehicles and unmanned surface vessels system

Cooperative strategies of multiple heterogeneous unmanned aerial vehicles (UAVs)-unmanned surface vessels (USVs) system are studied within this study. To deal with the nonlinear dynamics of the surface vessels and unmanned aerial vehicles, coordinate transformation methods are utilized for transforming them into the linear heterogeneous swarm system. The separation design method of inner and outer loop is employed. Then the heterogeneous formation controllers are proposed for position loops to get attitude command. Besides, the robust attitude command tracking controllers are presented through employing the disturbance estimation techniques. Finally, we give a simulation experiment whose results prove that our cooperative techniques have effectiveness.