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Time-varying formation control problems for unmanned aerial vehicle (UAV) systems based on position estimation are investigated. Firstly, a distributed formation controller based on the estimator is proposed using only relative state information of neighbors. The stability can be guaranteed by proper parameters and it can be proven that the control input is able to drive the UAVs to the predefined formation. Secondly, extra item for inner collision avoidance is added to the control strategy, and the stability can be proven by using common Lyapunov approach. Finally, numerical simulations are provided to illustrate the effectiveness of the theoretical results.
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