Research on Multi-UAVs’ Sliding Mode Consensus Formation Control with Delay and Disturbance Constraints

具有时延和干扰约束的多无人机滑模一致性编队控制研究

School of Automation, Northwestern Polytechnical University, Xi'an 710072, China

Received: 30 May 2019

Abstract

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.

摘要

针对三维环境下的多无人机(UAVs)系统，在同时存在时延和干扰约束的情况下，提出了一种基于一致性的滑模编队控制算法，首先在考虑时延的基础上设计合适的一致性算法，其次利用滑模控制(SMC)方法解决编队系统中的轨迹跟踪和控制问题，并保证系统对于外部扰动的鲁棒性。仿真结果表明：在同时考虑编队过程中的时延和干扰约束的情况下，所提出的控制算法能够保持期望的编队队形。