未知干扰下四旋翼无人机群固定时间编队控制

A fixed-time formation control approach is proposed for the formation control of underactuated nonlinear quadrotor UAV swarm with unknown disturbances. Firstly, a distributed fixed-time sliding mode estimator is designed. Each UAV can quickly estimate its own desired position information under the condition that only some UAVs can obtain the desired trajectory. Secondly,in order for the UAV to produce disturbance estimates to counteract the impact of the compound disturbances, a fixed-time disturbance observer is also inserted to estimate the unknown compound disturbances. Then, fixed-time sliding mode controllers are designed in the position layer and control layer of the UAV to track the desired trajectory. The proposed method can satisfy the attitude stability convergence. Finally, the accuracy and effectiveness of the proposed method are verified through numerical simulation.