Controller Design of the UAV Formation Based on Adaptive Integral Sliding Mode
LIU Chen1 ， XIE Baodi1 ， DONG Guobao1 ， HUO Da1 ， DUAN Yuxin1 ，XIA Chuan2
1. Science and Technology on Space System Simulation Laboratory， Beijing Simulation Center， Beijing 100854， China； 2. Beijing Institute of Electronic System Engineering， Beijing 100854， China
Abstract The controller design problem of a class of UAV (unmanned aerial vehicle) formation systems with bounded disturbance is studied in this paper. Based on adaptive integral sliding mode control frame, a novel adaptive controller is proposed. The adaptive law is introduced to estimate the upper bound of disturbance. The effect of disturbance can be cancelled in the designed protocol. The stability of the closed UAV formation system is analyzed by Lyapnov method. Simulation results validate that the controller proposed in this paper can guarantee the robustness of the closed-loop system, the continuity of the control signal and the signal is relatively small. Hence, the method is prone to apply in practical engineering.
Key words ：
UAV
formation control
adaptive
integral sliding mode
consensus
Received: 27 November 2020
Published: 25 March 2021
[1]
TIAN Yuanyuan (田圆圆), JIN Yanrui (金衍瑞), LI Zhiyuan (李志远), LIU Jinlei (刘金磊), LIU Chengliang∗ (刘成良). Weighted Heterogeneous Graph-Based Incremental Automatic Disease Diagnosis Method
[2]
MI Yang, WU Jiwei, TIAN Shuxin, MA Siyuan, WANG Yufei. Fully Distributed Economic Dispatch of Combined Heat and Power System Considering Individual Selfishness
[3]
ZHOU Dongrong, CHEN Shihai, JIANG Zhe, YAN Sainan, YAN Ruihai, GAO Yu. Application of UAV Realistic 3D Modeling in Integral Relocation and Protection of “Yangtze River Estuary II” Ancient Ship
[4]
ZHOU Ruchang, WANG Ziqiang, WANG Jie. Distributed Prescribed-Time Consensus Based Cooperative Control for DC Microgrids
[5]
HUANG He, HU Kaiyi, LI Zhanyi, WANG Huifeng, RU Feng, WANG Jun. An Image Dehazing Method for UAV Aerial Photography of Buildings Combining MCAP and GRTV Regularization
[6]
ZHAN Yan, CHEN Zhihui, ZHU Baochang, ZHU Tingting, SHAO Yiping, LU Jiansha. A Pallet Recognition Method Based on Adaptive Color Fast Point Feature Histogram
[7]
HUANG He, GAO Yongbo, RU Feng, YANG Lan, WANG Huifeng. 3D Path Planning of UAV Based on Adaptive Slime Mould Algorithm Optimization
[8]
XING Zhiwei, KAN Ben, LIU Zishuo, LI Biao, LUO Qian. Airport Pavement Snow and Ice State Perception Based on Improved YOLOX-s
[9]
WANG Dawei, SHAO Zhijiang, ZHANG Jian, LIU Tailai, ZHU Xianming. An Optimal Design of Equipment Testability Based on SA-DPSO Algorithm
[10]
LIU Yuming, ZHAO Yong, DONG Zhengjian, WANG Ping, JI Yuqi. Formation Control Strategy of Multiple Mobile Robots Cooperative Operation Based on Backstepping Method
[11]
LI Shuang, SHI Jianqiang. An LC Inverter Based on Novel Dual-Loop Control
[12]
LI Dengpan, REN Xiaoming, YAN Nannan. Real-Time Detection of Insulator Drop String Based on UAV Aerial Photography
[13]
HUANG Yuhao, HAN Chao, ZHAO Minghui, DU Qiankun, WANG Shigang. Multi-Objective Optimization Strategy of Trajectory Planning for Unmanned Aerial Vehicles Considering Constraints of Safe Flight Corridors
[14]
OUYANG Xuyu, CHANG Haichao, LIU Zuyuan, FENG Baiwei, ZHAN Chengsheng, CHENG Xide. Application of Adaptive Sampling Method in Hull Form Optimization
[15]
YUAN Dongdong (袁冬冬), WANG Yankai∗ (王彦恺), BAI Jiaqi (白嘉琪). Multi-UAV Route Re-Generation Method
Based on Trajectory Data
2021, Vol. 4 
