海军航空大学学报2023，Vol.38Issue(6)：483-489,518,8.DOI:10.7682/j.issn.2097-1427.2023.06.006
基于终端滑模的无人机编队协同控制
Cooperative Control of UAV Formation Based on Terminal Sliding Mode
摘要
Abstract
The finite-time cooperative control of UAV formation with input constraints and external disturbances is stud-ied.Firstly,an anti-saturation auxiliary system is introduced to solve the problem of actuator saturation,and an adaptive method is used to estimate and compensate the upper bound of the disturbance.Secondly,a new global fast terminal slid-ing mode controller is designed to make each UAV in formation converge to a given formation position in a finite time,and the convergence of the error and the effectiveness of the control method is verified by the Lyapunov stability analysis method.Finally,a numerical simulation of the proposed control method is carried out to verify the practical feasibility.关键词
输入受限/编队控制/终端滑模控制/自适应控制Key words
limited input/formation control/terminal sliding mode control/adaptive control引用本文复制引用
段凯,高晗威,王珂,孙铭阳,郭永..基于终端滑模的无人机编队协同控制[J].海军航空大学学报,2023,38(6):483-489,518,8.基金项目
国家自然科学基金(62273277) （62273277）
陕西省重点研发计划(2023-GHZD-32) （2023-GHZD-32）
航空科学基金(201901053004) （201901053004）
