基于滑模的多无人机系统协同编队控制

针对具有非完整约束的多无人机系统编队控制问题，提出了一种基于滑模的协同编队控制算法。控制目标是使多无人机系统能够收敛到期望编队，并且能够跟踪上期望的运动轨迹。在领导-跟随结构中，编队的期望运动轨迹由一个动态的虚拟领导者来表示，仅部分跟随者先验已知虚拟领导者信息，并且所有跟随者之间只能局部交互信息。首先，采用分布式状态观测器，使所有跟随者能够在有限时间内估计出虚拟领导者的状态。然后，利用该观测器的估计状态，提出了基于滑模的协同编队控制算法。最后，基于李雅普诺夫稳定性理论证明了多无人机系统的稳定性,并且通过5架无人机的仿真验证了所提算法的有效性。

Cooperative Formation Control of Multiple UAV Systems Based on Sliding Mode Control

A cooperative formation control algorithm is proposed based on sliding mode control for multiple unmanned aerial vehicle (UAV) systems with nonholonomic constraints. The control objective is to make the multiple UAV system converge to the desired formation and track the desired trajectory. In the leader-follower structure, the desired trajectory of the formation is represented by a dynamic virtual leader. Firstly, a distributed state observer is used to estimate the state of the virtual leader in finite time. Then, a cooperative formation control algorithm based on sliding mode is proposed by using the estimated state of the observer. The stability of multiple UAV system is proved based on Lyapunov stability theory, and the effectiveness of the proposed algorithm is verified by the simulation of five UAVs.