基于终端滑模的无人机编队协同控制

Cooperative Control of UAV Formation Based on Terminal Sliding Mode

文章研究了具有输入受限及外部干扰的无人机编队有限时间协同控制问题。首先,引入抗饱和辅助系统来解决执行器的饱和问题,利用自适应方法对扰动上界进行估计和补偿;然后,设计新型全局快速终端滑模的控制器,使得编队内各无人机在有限时间内收敛到指定的编队位置,并通过李雅普诺夫稳定性分析方法,证明控制方法的有效性;最后,对提出的控制方法进行数字仿真,验证了实际可行性。

The finite-time cooperative control of UAV formation with input constraints and external disturbances is studied.Firstly,an anti-saturation auxiliary system is introduced to solve the problem of actuator saturation,and an adaptive method is used to estimate and compensate the upper bound of the disturbance.Secondly,a new global fast terminal sliding mode controller is designed to make each UAV in formation converge to a given formation position in a finite time,and the convergence of the error and the effectiveness of the control method is verified by the Lyapunov stability analysis method.Finally,a numerical simulation of the proposed control method is carried out to verify the practical feasibility.