Fully Distributed Multi-UAV Cooperative Hunting with External Disturbance

This paper focuses on multi-UAV cooperative hunting problem subject to unknown external disturbance in three-dimensional environment. A fully distributed extended state observer (ESO) based anti-disturbance control algorithm is developed. In particular, without using any global information, target UAV of unknown origin and dynamics can be surrounded in the geometric center of UAV catchers in three dimensional coordinates. And the formation of catchers can change over time. Moreover, it’s proved that, the formation containment error and ESO estimation error can converge to arbitrarily small constants under the proposed protocol. And its effectiveness is verified by a numerical example.