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A double-loop control system combining backstepping and sliding mode control techniques is then designed for the UAVs to track the trajectory. A radial basis function neural network capable of estimating external disturbances is developed to enhance the robustness of the controller. The stability of the controller is proven by using the Lyapunov theorem. A number of comparisons and software-in-the-loop tests have been conducted to evaluate the performance of the proposed controller. The results show that our controller not only outperforms other state-of-the-art controllers but is also sufficient for complex tasks of UAVs such as collecting surface data for inspection. The source code of our controller can be found at <jats:uri xmlns:xlink=\"http:\/\/www.w3.org\/1999\/xlink\" xlink:href=\"https:\/\/github.com\/duynamrcv\/rbf_bsmc\">https:\/\/github.com\/duynamrcv\/rbf_bsmc<\/jats:uri>.<\/jats:p>","DOI":"10.1017\/s0263574724000559","type":"journal-article","created":{"date-parts":[[2024,4,19]],"date-time":"2024-04-19T07:50:53Z","timestamp":1713513053000},"page":"1842-1860","source":"Crossref","is-referenced-by-count":21,"title":["Radial basis function neural networks for formation control of unmanned aerial vehicles"],"prefix":"10.1017","volume":"42","author":[{"ORCID":"https:\/\/orcid.org\/0009-0001-0837-4360","authenticated-orcid":false,"given":"Duy-Nam","family":"Bui","sequence":"first","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-5247-6180","authenticated-orcid":false,"given":"Manh 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Hoang, V. , Phung, M. , Dinh, T. and Ha, Q. , \u201cAngle-Encoded Swarm Optimization for UAV Formation Path Planning,\u201d In:\u00a02018 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS), (2018) pp. 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Jing, W. , Deng, D. , Wu, Y. and Shimada, K. , \u201cMulti-UAV Coverage Path Planning for the Inspection of Large and Complex Structures,\u201d In: 2020 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS), (2020) pp. 1480\u20131486.","DOI":"10.1109\/IROS45743.2020.9341089"},{"key":"S0263574724000559_ref4","doi-asserted-by":"publisher","DOI":"10.1016\/j.autcon.2021.103832"},{"key":"S0263574724000559_ref22","doi-asserted-by":"publisher","DOI":"10.1016\/j.ast.2016.08.011"},{"key":"S0263574724000559_ref27","doi-asserted-by":"publisher","DOI":"10.1109\/TNSE.2023.3252724"},{"key":"S0263574724000559_ref25","doi-asserted-by":"publisher","DOI":"10.1016\/j.jfranklin.2020.01.014"},{"key":"S0263574724000559_ref41","doi-asserted-by":"crossref","unstructured":"[41] Bui, D. 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