ROBUST SLIDING MODE CONTROL FOR UAV FORMATION WITH EXTERNAL DISTURBANCES UNDER EVENT-TRIGGERED STRATEGY

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.