针对无人机空中加油紧密编队系统鲁棒控制问题，提出了一种基于障碍函数的自适应干扰观测器的分布式鲁棒编队控制方法。对固定翼无人机外环动力学模型进行转换，构造了具有非匹配和匹配扰动的二阶多体系统简化模型，并基于障碍函数设计了相应通道的自适应干扰观测器；利用邻机状态信息定义了相应的一致误差函数，在此基础上，基于编队系统通信拓扑结构，引入干扰补偿机制，开发了空中加油无人机紧密编队系统分布式鲁棒控制器，以实现理想的异构无人机编队跟踪控制性能。基于Lyapunov稳定性理论，分析了闭环系统的稳定性和收敛性。最后，通过将所提方法应用在由不同型号的1架加油机和2架受油机构成的编队系统上，进行数值仿真验证。所得到仿真结果与理论分析一致，验证了设计的干扰观测器和控制器的有效性。

This paper proposes a distributed robust formation control method based on adaptive disturbance observers with the barrier function for the robust control problem of aerial-refueling UAV close formation systems. A simplified model of the second-order multi-agent system with unmatched and matched disturbances is constructed by transforming the fixed-wing UAV outer-loop dynamics model， and the adaptive disturbance observer of the corresponding channel is designed based on the barrier function. The consensus error function is defined by using the neighboring aircraft state information， and on this basis， distributed robust controllers for aerial-refueling UAV close formation systems are developed to achieve the ideal heterogeneous UAV formation tracking control performance based on the communication topology of the formation system and the introduction of disturbance compensation mechanism. According to the Lyapunov stability theory， the stability and convergence of the closed-loop system are analyzed. Finally， the proposed scheme is verified by implementing into a formation system consisting of one refueling aircraft and two fuel-receiving aircraft of different types for numerical simulation. The simulation results are consistent with the theoretical analysis， which confirms the effectiveness of the designed disturbance observer and controller.