多无人机编队递归非奇异终端滑模容错控制OA北大核心CSTPCD

To solve the problem that quadrotor unmanned aerial vehicle(UAV)formation flying is easily affected by external interference,air resistance,actuator failure,and other uncertain factors,we propose a recursive nonsingular terminal sliding mode control(RNTSMC)method based on a com-pensation function observer(CFO)to improve the performance of quadrotor UAV formation sys-tems.First,we introduce a CFO with high-precision estimation to estimate the external disturbance and actuator fault information in real time,improve the equivalent controller of nonsingular termi-nal sliding mode surface by designing a recursive integral terminal sliding mode surface to compen-sate the estimated information and produce the initial value of the sliding mode surface,a pledge that two sliding mode surfaces,in turn,reach a balance in a row,and ensure that the tracking er-ror converges to zero quickly in a finite time.Second,we establish a formation model according to the leader-follower method and design a formation cooperative controller based on the sliding mode control theory to ensure that the UAV formation completes the flight mission.Finally,the simula-tion results show that the proposed method has good fault tolerance performance for quadrotor UAV formation.