Research on Multi-UAVs' Sliding Mode Consensus Formation Control with Delay and Disturbance Constraints

被引：5
|
作者：
Yan D. [1 ]
Zhang W. [1 ]
Chen H. [1 ]
Shi J. [1 ]
机构：
[1] School of Automation, Northwestern Polytechnical University, Xi'an
来源：
Xibei Gongye Daxue Xuebao/Journal of Northwestern Polytechnical University | 2020年 / 38卷 / 02期
关键词：
Consensus formation; Delay; Disturbance constraints; Multi-UAVs;
D O I：
10.1051/jnwpu/20203820420
中图分类号：
学科分类号：
摘要：
A consensus-based sliding mode formation control algorithm for the multi-unmanned-aerial-vehicles'(multi-UAVs') system with delay and disturbance constraints in three dimensional(3D) environment is presented. Firstly, a consensus algorithm is presented by considering the time delay. Secondly, the trajectory tracking and robustness of the formation system to the external disturbance is ensured by using the sliding mode controller(SMC). The effectiveness of the present algorithms is verified by the simulation results. © 2020 Journal of Northwestern Polytechnical University.
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收藏
页码：420 / 426
页数：6
相关论文
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