Discrete Sliding Mode Control for Time-varying Formation Tracking of Multi-UAV System with a Dynamic Leader

被引：3

作者：

Wang, Jianhua ^{[1
]}

Bao, Feng ^{[2
]}

Han, Liang ^{[1
]}

Dong, Xiwang ^{[3
]}

Li, Qingdong ^{[3
]}

Ren, Zhang ^{[3
]}

机构：

[1] Beihang Univ, Sino French Engineer Sch, Beijing, Peoples R China

[2] Traff Control Technol Co Ltd, Beijing, Peoples R China

[3] Beihang Univ, Sch Automat Sci & Elect Engn, Beijing, Peoples R China

来源：

2020 CHINESE AUTOMATION CONGRESS (CAC 2020) | 2020年

基金：

北京市自然科学基金; 中国国家自然科学基金;

关键词：

discrete-time; multi-UAV system; formation tracking; dynamic leader; UNMANNED AERIAL VEHICLES; CONSENSUS; NETWORKS;

D O I：

10.1109/CAC51589.2020.9327623

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

Time-varying formation tracking control problems for multi-UAV systems are investigated in this paper, where a leader with dynamic input is considered. A discrete-time formation protocol based on sliding mode control method is presented. Using Lyapunov stability approach, sufficient conditions for multi-UAV system to realize the desired formation tracking are given and the quasi-sliding mode hand is expressed. An experiment with seven UAVs via Gazebo simulator is performed to verify the effectiveness of the formation tracking protocol.

引用

页码：4950 / 4955

页数：6

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