Abstract:In this paper, a distributed formation tracking control scheme based on prescribed performance control and fixed-time theory is proposed for multiple unmanned aerial vehicles(UAVs) formation flights. Firstly, the 6-DOF formation model of UAVs is decoupled into the position subsystem and attitude subsystem, and then the control of each subsystem is realized by using a double closed-loop control strategy. Wherein, the outer ring is the formation control layer. Using the fixed-time prescribed performance control, the multi-UAV system can fly according to the desired formation pattern. The inner loop is the attitude control layer. Here, a proportional-like feedback controller is designed so that a fast response to attitude can be realized. Simulation results show that the proposed algorithm can realize high-precision formation tracking, and form and maintain the desired formation configuration within the user-specified time.