This paper investigates the formation control problem of multi-unmanned aerial vehicle (UAV) systems with multi-operating modes. While mode switching enhances the flexibility of multi-UAV systems, it also introduces dynamic model switching behaviors in UAVs. Moreover, obtaining an accurate dynamic model for a multi-UAV system is challenging in practice. In addition, communication link failures and time-varying unknown disturbances are inevitable in multi-UAV systems. Hence, to overcome the adverse effects of the above challenges, a hybrid iterative learning formation control strategy is proposed in this paper. The proposed controller does not rely on precise modeling and exhibits its learning ability by utilizing historical input–output data to update the current control input. Furthermore, two convergence theorems are proven to guarantee the convergence of state, disturbance estimation, and formation tracking errors. Finally, three simulation examples are conducted for a multi-UAV system consisting of four quadrotor UAVs under multi-operating modes, switching topologies, and external disturbances. The results of the simulations show the strategy’s effectiveness and superiority in achieving the desired formation control objectives.

Heat generation and serious energy consumption of normal-conductive suspension electromagnets influence the performance and stability of suspension systems. With the development of second generation (2G) high temperature superconducting (HTS) technologies, HTS suspension electromagnets are being considered for energy saving purpose. In this paper, a suspension system with three suspension electromagnets is designed, which is comprised of two normal-conductive suspension electromagnets and a 2G-HTS suspension electromagnet. A three-dimensional (3D) electromagnetic field simulation based on finite element method (FEM) is carried out, and the force test platform of suspension electromagnet is built for performance evaluation of the HTS suspension electromagnet. The experimental results show that the current of HTS suspension electromagnet is steady loaded from 0 A to 70 A under 77 K working conditions, with the suspension force meet the requirements. This work provides a certain theoretical and practical foundation for the future superconducting suspension projects.