Volume 38, Number 2, April 2020
|Page(s)||420 - 426|
|Published online||17 July 2020|
Research on Multi-UAVs’ Sliding Mode Consensus Formation Control with Delay and Disturbance Constraints
School of Automation, Northwestern Polytechnical University, Xi'an 710072, China
A consensus-based sliding mode formation control algorithm for the multi-unmanned-aerial-vehicles'(multi-UAVs') system with delay and disturbance constraints in three dimensional(3D) environment is presented. Firstly, a consensus algorithm is presented by considering the time delay. Secondly, the trajectory tracking and robustness of the formation system to the external disturbance is ensured by using the sliding mode controller(SMC). The effectiveness of the present algorithms is verified by the simulation results.
Key words: delay / disturbance constraints / multi-UAVs / consensus formation
关键字 : 时延 / 干扰约束 / 多无人机 / 一致性编队
© 2019 Journal of Northwestern Polytechnical University. All rights reserved.
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