Abstract
Recently, formation flying of multiple unmanned aerial vehicles (UAVs) found numerous applications in various areas such as surveillance, industrial automation and disaster management. The accuracy and reliability for performing group tasks by multiple UAVs is highly dependent on the applied control strategy. The formation and trajectories of multiple UAVs are governed by two separate controllers, namely formation and trajectory tracking controllers respectively. In presence of environmental effects, disturbances due to wind and parametric uncertainties, the controller design process is a challenging task. This article proposes a robust adaptive formation and trajectory tacking control of multiple quad-rotor UAVs using super twisting sliding mode control method. In the proposed design, Lyapunov function-based adaptive disturbance estimators are used to compensate for the effects of external disturbances and parametric uncertainties. The stability of the proposed controllers is guaranteed using Lyapunov theorems. Two variants of the control schemes, namely fixed gain super twisting SMC (STSMC) and adaptive super twisting SMC (ASTSMC) are tested using numerical simulations performed in MATLAB/Simulink. From the results presented, it is verified that in presence of disturbances, the proposed ASTSMC controller exhibits enhanced robustness as compared to the fixed gain STSMC.
Highlights
A flight in which more than one quad-rotors fly and maintain the relative distance among each other is called formation flight
Considering the aforementioned literature review, this paper proposes adaptive robust formation and trajectory tracking of multiple unmanned aerial vehicles (UAVs) using super-twisting sliding mode control method.The proposed controller compensates for the disturbances using adaptive control laws derived by Lyapunov function method.System stability is ensured using
Dynamics of the leader and followers UAV. it is assumed that same type of disturbance acceleration is applied for all UAVs
Summary
A flight in which more than one quad-rotors fly and maintain the relative distance among each other is called formation flight. In [14], a classical PID control scheme with a sliding mode controller (SMC) is proposed for multiple quad-rotors. Considering the aforementioned literature review, this paper proposes adaptive robust formation and trajectory tracking of multiple UAVs using super-twisting sliding mode control method.The proposed controller compensates for the disturbances using adaptive control laws derived by Lyapunov function method.System stability is ensured using. First part is related to “system description and mathematical modeling” The objective of this part is the modelling of a single quad-rotor and transnational dynamics of multiple UAVs. The second part includes the trajectory and the formation controller formulation. In presence of external disturbances, robust formation and trajectory tracking of multiple UAVs is achieved using adaptive super twisting sliding mode control method. The adaptive laws are derived using Lyapunov theorem and implemented using projection operators
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