航空学报2026，Vol.47Issue(z1)：67-80,14.DOI:10.7527/S1000-6893.2025.32965
基于无源滑模的无人机编队分布式控制
Distributed control of UAVs formation based on passivity-based sliding mode method
摘要
Abstract
Based on the port-Hamiltonian system theory and sliding mode control method,a passivity-based sliding mode method for distributed control of Unmanned Aerial Vehicles(UAVs)formation is designed.Firstly,a distributed formation error model was established based on the 3-DOF nonlinear UAVs formation system model and consensus estimation algorithm.Secondly,based on the port-Hamiltonian system theory,the UAVs formation system was mod-eled as a port-Hamiltonian system.Then,based on the distributed formation error model,the expected Hamiltonian energy function of the system is designed,and the sliding modulus is introduced into the expected Hamiltonian energy function through the energy integer technique,so that the passivity-based sliding mode control law is designed,and the stability proof and robustness analysis of the designed passivity-based sliding mode control method are carried out.Finally,the designed passivity-based sliding mode control law is simulated and verified.The simulation results show that the designed passivity-based sliding mode control law can make the state of the UAV in the swarm converge to the sliding mode surface and then converge along the sliding mode surface to the desired state,while exhibiting certain advantages in performance and disturbance rejection.关键词
端口哈密顿系统/无源控制/滑模控制/无人机编队控制/分布式控制Key words
port-Hamiltonian system/passivity-based control/sliding mode control/UAVs formation control/distributed control分类
航空航天引用本文复制引用
何孝龙,陈琪锋,郝文康..基于无源滑模的无人机编队分布式控制[J].航空学报,2026,47(z1):67-80,14.基金项目
国家自然科学基金(62073343) （62073343）
智控实验室开放基金(ICL-2023-0405) National Natural Science Foundation of China(62073343) （ICL-2023-0405）
Open Fund of Intelligent Control Laboratory(ICL-2023-0405) （ICL-2023-0405）
