Event-triggered integral sliding mode formation control for multiple quadrotor UAVs with unknown disturbances

Abstract

Taking the external disturbances with unknown boundaries into consideration, this paper deals with the time-varying formation control problem of multiple quadrotors system based on static/dynamic event-triggered integral sliding mode control (ISMC) and adaptive sliding mode disturbance estimator (ASMDE). At first, two different position controllers, static event-triggered and dynamic event-triggered controllers, are proposed to deal with the time-varying formation problem of the multiple quadrotors system based on ISMC. The stability conditions are obtained through the Lyapunov theory. By the reverse proving method, it is also proved that there is no Zeno behavior in both static event-triggered position controller and dynamic event-triggered position controller. Then, the external disturbances are considered where the bounds of the perturbations are unknown. The ASMDE is applied to estimate the external disturbances, which increases the robustness of the multiple quadrotors system when applying the proposed methods. Next, the chattering free terminal sliding mode attitude controller for individual quadrotor is designed. Finally, the theoretical results are validated through numerical simulations.