基于自适应通信拓扑四旋翼无人机编队重构控制

针对四旋翼无人机编队重构协同控制问题，基于切换通信拓扑结构的积分滑模控制（ISMC）方法进行了研究。根据四旋翼无人机间的通信拓扑关系以及编队重构特性，建立了四旋翼无人机编队模型。针对编队重构过程中可能出现的通信可靠性问题，提出了通信拓扑切换条件，结合积分滑模控制理论对切换通信拓扑条件下的协同控制器进行设计，并结合切换系统理论对编队系统稳定性进行了证明。仿真结果表明，无人机编队系统在编队重构过程中采用切换通信拓扑结构以及滑模控制方法能保证系统的稳定性，验证了方法的有效性。

Formation reconfiguration control of quadrotor UAVs based on adaptive communication topology

This paper focuses on the cooperative control problem in formation reconfiguration of multiple flight vehicles,and the method of integral sliding mode control(ISMC)based on switching communication to-pology is investigated.The multiple flight vehicle system is modeled involving the connecting of communication topology and the character of formation reconfiguration of quadrotor UAV.The switching condition of the com-munication topology is raised considering the possible communication reliability problem in the process of for-mation reconfiguration.The cooperative controller is designed by ISMC method under the condition of switc-hing topology communication,and its stability is proved adopting switching system theory.The simulation re-sults show that the stability of UAV formation system can be ensured with ISMC method and switching commu-nication topology in the process of formation reconfiguration, and illustrate the effectiveness of the proposed method.