本书共九章，第一章作了一些介绍。第二章给出了一些数学预备知识，以方便后面的学习。理论分析。第三至第六章重点介绍编队飞行目标；在交换拓扑、距离的情况下提出了分布式控制算法分别基于拓扑、参数不确定性和执行器故障。第七章和第八章在无向和有向拓扑上开发了两种分布式控制算法，重新分别。第九章开发了一种输出反馈分布式控制算法。在没有速度和角速度信息的情况下运行。
本书是为从事航空、机器人、飞机等领域工作的读者编写的。

1 Introduction
1.1 Research Significance
1.2 Research Overview
1.2.1 Research Status on Cooperative Control Methods
1.2.2 Research Status on UAV Cluster Projects
1.3 Outline
References
2 Background and Preliminaries
2.1 Preliminaries
2.1.1 Notation and Definitions
2.1 . 2 Useful Lemmas
2.1.3 Filippov Solution and Non-Smooth Analysis
2.2 Graph Theory
2.3 System Models of VTOL UAVs
2.3.1 Attitude Representation
2.3.2 Kinematics and Dynamics of VTOL UAVs
2.4 Conclusions
References
3 Distributed Formation Control for Clustered VTOL UAVs Over a Switching Topology
3.1 Problem Statements
3.1.1 System Model
3.1.2 Switching Topology Graph
3.1.3 Control Objective
3.2 Distributed Control Algorithm Development Over a Switching Topology
3.2.1 Problem Transformation
3.2.2 Command Force Synthesis
3.2.3 Applied Torque Synthesis
3.2.4 Stability Analysis
3.3 Simulations
3.4 Conclusions
References
4 Distributed Formation Control for Clustered VTOL UAVs Over a Distance-Based Topology
4.1 Problem Statements
4.1.1 System Model
4.1.2 Distance-Based Network Topology
4.1.3 Control Objective
4.2 Distributed Control Algorithm With Connectivity Maintenance Mechanism
4.2.1 Problem Transformation
4.2.2 Command Force Synthesis
4.2.3 Applied Torque Synthesis
4.2.4 Stability Analysis
4.3 Simulations
4.4 Conclusions
References
5 Adaptive Distributed Formation Control for Clustered VTOL UAVs with Parametric Uncertainties
5.1 Problem Statements
5.1.1 System Model
5.1.2 Topology Graph
5.1.3 Control Objective
5.2 Adaptive Distributed Control Algorithm
5.2.1 Problem Transformation
5.2.2 Command Force Synthesis
5.2.3 Applied Torque Synthesis
5.2.4 Stability Analysis
5.3 Simulations
5.4 Conclusions
References
6 Adaptive Fault-Tolerant Distributed Formation Control for Clustered VTOL UAVs
6.1 Problem Statements
6.1.1 System Model
6.1.2 Actuator Faults
6.1.3 Topology Graph
6.1.4 Control Objective
6.2 Adaptive Fault-Tolerant Distributed Control Algorithm
6.2.1 Problem Transformation
6.2.2 Command Force Synthesis
6.2.3 Desired Torque Synthesis
6.2.4 Stability Analysis
6.3 Simulations
6.4 Conclusions
References
7 Distributed Formation Tracking Control for Clustered VTOL UAVs Over Undirected Topology
7.1 Problem Statements
7.1.1 System Model
7.1.2 Network Topology
7.1.3 Control Objective
7.2 Distributed Control Algorithm Development Over Undirected Topology
7.2.1 Command Force Synthesis
7.2.2 Command Attitude Extraction
7.2.3 Applied Torque Synthesis
7.2.4 Stability Analysis
7.3 Simulations
7.4 Conclusions
References
8 Distributed Formation Tracking Control for Clustered VTOL UAVs Over Directed Topology
8.1 Background
8.1.1 Problem Statements
8.1.2 Network Topology
8.2 Distributed Control Algorithm Development Over Directed Topology
8.2.1 Distributed Estimator Design
8.2.2 Problem Transformation
8.2.3 Command Force Synthesis
8.2.4 Applied Torque Synthesis
8.2.5 Stability Analysis
8.3 Simulations
8.4 Conclusions
References
9 Distributed Output-Feedback Formation Tracking Control for Clustered VTOL UAVs
9.1 Problem Statements
9.1.1 System Model
9.1.2 Network Topology
9.1.3 Control Objective
9.2 Distributed Output-Feedback Control Algorithm Development
9.2.1 Command Force Synthesis
9.2.2 Command Attitude Extraction
9.2.3 Applied Torque Synthesis
9.2.4 Stability Analysis
9.3 Simulation
9.4 Conclusions
References