Safe Formation Control For Micro-UAV Using Control Barrier Functions

The formation control for unmanned aerial vehicles (UAVs) has become a key research focus in the past two decades. This paper studies the issues of formation tracking and safety control for micro-UAV swarms. A distributed finite-time formation control method based on an adaptive super-twisting algorithm is designed, ensuring that micro-UAVs can quickly converge to the desired formation within a finite time. Meanwhile, a safety formation control method based on control barrier functions is developed to address collision and obstacle avoidance during formation maintenance. The effectiveness and superiority of the proposed methods are validated through both simulation and real-world micro-UAV experiments in obstacle environments.