In this study, the problem of distributed robust formation tracking control is investigated for multi–unmanned aerial vehicle (UAV) system with external disturbance. The UAV is demanded to converge and follow a desired geometric moving path while satisfying the tracking error. First, the desired path is designed by moving path following (MPF), and a finite-time disturbance observer is utilized to compensate external disturbance. Then, a distributed robust control strategy by using MPF is proposed to drive the multi-UAV to circumnavigate around the moving target. By using Lyapunov stability method, the boundedness of the position tracking error is analyzed. Finally, simulation results are performed to illustrate the effectiveness of the developed approach.
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