Fixed-time Second-order Sliding Mode Control Based on Disturbance Observer for UAV Formation

被引：0
|
作者：
Zhou, Zixiang [1 ]
Feng, Xiaoxue [1 ]
Pan, Feng [1 ]
Xie, Tian [1 ]
Li, Zhenxun [2 ]
机构：
[1] Beijing Inst Technol, Sch Automat, Beijing, Peoples R China
[2] SDIC Yunnan Dachaoshan Hydropower Co Ltd, Kunming, Yunnan, Peoples R China
来源：
2024 14TH ASIAN CONTROL CONFERENCE, ASCC 2024 | 2024年
关键词：
unmanned aerial vehicle(UAV) formation; fixedtime control; disturbance observer; sliding mode control(SMC); CONSENSUS TRACKING; SYSTEMS; SCHEME;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
In this paper, a kind of Unmanned aerial vehicle(UAV) formation controller with external disturbance is proposed. Firstly, a fixed-time disturbance observer(FTDO) is designed through fixed-time sliding mode(FTSM), which enable each follower identify the external disturbance effectively. On this basis, a fixed-time second-order sliding mode controller is designed to control each follower to form and maintain a preset formation and follow the leader within a fixed time unrelated to the initial state of the system, while greatly reduces the chattering problem of conventional sliding mode controller. The stability of the FTDO and proposed controller is proved by Lyapunov theory, and the effectiveness is verified by simulation.
引用
收藏
页码：2011 / 2016
页数：6
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