• formation
• control
• adaptive
• UAV

The aim of this thesis is to study the dynamic and control problem of the UAV formations. After a synthetic historical introduction, which also briefly exposes the main issues related to this objective, it contains two sections respectively dedicated to the UAVs modeling and to the UAV control design (the difference between classic control and adaptive control is here exposed). The following section definitely states the flight control problems which are presented by the UAVs formations and proposes a simple scheme to solve them. Hence, there is a focus on the adaptive formation flight control design, with a mention of the most important graph-theory elements. The problem of the disturbance rejection is then faced. Finally, the results obtained by simulating our simple UAV dynamic models - with and without any disturbances - are showed, both in case of classic and adaptive control.