TY - JOUR
T1 - ROBUST SLIDING MODE CONTROL FOR UAV FORMATION WITH EXTERNAL DISTURBANCES UNDER EVENT-TRIGGERED STRATEGY
AU - Wang, Lihao
AU - Li, Aijun
AU - Wang, Changqing
AU - Zabolotnov, Yury
N1 - Publisher Copyright:
© 2024, International Council of the Aeronautical Sciences. All rights reserved.
PY - 2024
Y1 - 2024
N2 - Aiming at UAV formation flight trajectory tracking affected by external disturbances and limited communication, this article studies a robust sliding mode formation control law based on event triggering strategy. To suppress external interference, a robust controller is used. In order to reduce communication between adjacent UAVs, a distributed exponential convergence form of sliding mode control scheme based on an event-triggered strategy is designed. Under this scheme, the communication channel only transmits information at the trigger moment determined by the predetermined trigger conditions, and discontinuous communication is realized in the state of discrete updating of the sliding mode surface. According to theoretical analysis, it can be proved that the stability of the closed-loop system. Zeno behavior does not exist. Finally, numerical simulation was applied to verify the effectiveness of the control law.
AB - Aiming at UAV formation flight trajectory tracking affected by external disturbances and limited communication, this article studies a robust sliding mode formation control law based on event triggering strategy. To suppress external interference, a robust controller is used. In order to reduce communication between adjacent UAVs, a distributed exponential convergence form of sliding mode control scheme based on an event-triggered strategy is designed. Under this scheme, the communication channel only transmits information at the trigger moment determined by the predetermined trigger conditions, and discontinuous communication is realized in the state of discrete updating of the sliding mode surface. According to theoretical analysis, it can be proved that the stability of the closed-loop system. Zeno behavior does not exist. Finally, numerical simulation was applied to verify the effectiveness of the control law.
KW - and external disturbances
KW - event-triggered strategy
KW - robust sliding mode control
KW - UAV formation
UR - http://www.scopus.com/inward/record.url?scp=85208804966&partnerID=8YFLogxK
M3 - 会议文章
AN - SCOPUS:85208804966
SN - 1025-9090
JO - ICAS Proceedings
JF - ICAS Proceedings
T2 - 34th Congress of the International Council of the Aeronautical Sciences, ICAS 2024
Y2 - 9 September 2024 through 13 September 2024
ER -