Integral sliding mode formation control of fixed-wing unmanned aircraft using seeker as a relative measurement system

被引：33

作者：

Dehghani, Mohammad A. ^{[1
]}

Menhaj, Mohammad B. ^{[1
]}

机构：

[1] Amirkabir Univ Technol, Dept Elect Engn, Ctr Excellence Control & Robot, Tehran Polytech, Tehran, Iran

来源：

AEROSPACE SCIENCE AND TECHNOLOGY | 2016年 / 58卷

关键词：

Airborne seeker; Formation flight; Integral sliding mode control; Leader-follower; Unmanned aircraft; AUTONOMOUS FORMATION FLIGHT; ROBOTIC MANIPULATORS; NAVIGATION SYSTEM; AERIAL VEHICLES; GUIDANCE; UNCERTAINTY; DESIGN; UAV;

D O I：

10.1016/j.ast.2016.08.011

中图分类号：

V [航空、航天];

学科分类号：

08 ; 0825 ;

摘要：

This paper deals with three dimensional leader-follower formation control of unmanned aircraft systems. The main contribution of the paper is kinematic formulation of the leader-follower formation based on seeker measurements which omit the need for communication networks. Considering uncertainties in measurement of followers speeds, a robust controller is employed. Then, by proposing an integrated controller-estimator consisting of the robust controller and a disturbance compensator, keeping the formation while the leader is maneuvering is guaranteed. Simulation results verify the accuracy of the integrated controller-estimator system. (C) 2016 Elsevier Masson SAS. All rights reserved.

引用

页码：318 / 327

页数：10

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