基于连续螺旋滑模的无人机分布式编队控制

Distributed Formation Control of UAVs Based on Continuous Spiral Sliding Mode

为了解决复杂环境中无人机分布式编队控制问题,考虑外界干扰影响和状态信息不完全反馈情况,对无人机设计分布式编队控制器。无人机利用自身位置反馈,基于二阶精确微分器设计状态观测器,得到无人机速度和干扰的估计值;结合自身估计信息和邻机位置、速度的估计,基于连续螺旋滑模控制方法设计编队控制器和姿态跟踪控制器;稳定性分析保证了无人机闭环系统稳定性。基于Matlab/Simulink数值仿真和软件在环实时仿真平台,验证了所设计控制算法的有效性,并演示了三维可视化仿真结果。

In order to solve the formation control problem for unmanned aerial vehicle(UAV)in a complex environment,a distributed formation controller is designed considering the external disturbance and incomplete feedback of state information.By using the position feedback,a state observer is proposed based on second-order precise differentiator.Then,the velocity of UAV and the estimate of external disturbance are derived.Combining the estimation information and the positions and velocities of its adjacent UAVs,the formation controller and attitude tracking controller are designed based on the continuous twisting sliding mode control method.The stability analysis ensures the stability of UAV’s closed loop system.The control algorithm is verified on the Matlab/Simulink and a software-in-the-loop simulation platform,and the proposed method is verified and demonstrated via 3D visualization.