Formation control of high-order linear discrete-time multiple unmanned aerial vehicles systems in noisy environments

Formation control of high-order linear discrete-time multiple unmanned aerial vehicles (multi-UAVs) systems with multiplicative noises is studied in this article. Because of the existence of multiplicative noises, classical methods for discrete-time system control problems should be improved. Here, we develop a new discrete-time formation protocol for multi-UAVs systems. The stochastic Lyapunov stability theory and the positive definiteness theory of a generalized algebraic Riccati equation are then used to derive sufficient conditions for formation feasibility.