Abstract
This paper discusses the attitude cooperative control of multiple unmanned aerial vehicle systems (MUAVs) with unknown dynamics and external disturbances. Distributed fast nonsingular terminal sliding mode control (FNTSMC) is used with quaternion-description dynamical systems. The dynamics and external disturbances are changed into lumped disturbances by formula transformation. A robust nonlinear disturbance observer is proposed to estimate the lumped disturbances in finite time. Then, combining the fast terminal sliding mode control, distributed FNTSMC controllers are designed under the directed topology. Based on the Lyapunov stability theory and graph theory, convergence stability of the nonlinear systems is strictly proved, and the tracking errors between the leader and the followers approach to a small residual set. Finally, the simulation example is presented to illustrate the effectiveness and advantage of the proposed controllers.
Highlights
Formation flight control (FFC) for multiple unmanned aerial vehicle systems has attracted more and more attention owing to its various applications in both military and civilian areas [1,2,3,4]
A distributed antidisturbance method combining with Nussbaum function, adaptive Neural network (NN), and disturbances observer for attitude tracking of MUAVs was proposed [31]; the abovementioned works used the Nonlinear disturbances observer (NDO) not considering the finite-time property
Motivated by the aforementioned analysis, this paper aims to consider a more interesting cooperative attitude control problem for MUAVs with inertia uncertainties and external disturbances. e contributions of this paper are summarized as follows: (i) Compared with the attitude cooperative under undirected topology [33], our analysis is based on the directed topology, and it is more challenging and practical (ii) A robust NDO is proposed to estimate the lumped disturbances, which can obtain the information of the lumped disturbances in finite time (iii) Based on the directed communication topology, combining the NDO and fast nonsingular TSMC (FNTSMC), distributed cooperative attitude controller for MUAVs is proposed, which can guarantee that the tracking errors converge to the regions containing the origin in finite time e rest of this paper is organized as follows
Summary
Formation flight control (FFC) for multiple unmanned aerial vehicle systems has attracted more and more attention owing to its various applications in both military and civilian areas [1,2,3,4]. A distributed antidisturbance method combining with Nussbaum function, adaptive NNs, and disturbances observer for attitude tracking of MUAVs was proposed [31]; the abovementioned works used the NDO not considering the finite-time property. (i) Compared with the attitude cooperative under undirected topology [33], our analysis is based on the directed topology, and it is more challenging and practical (ii) A robust NDO is proposed to estimate the lumped disturbances, which can obtain the information of the lumped disturbances in finite time (iii) Based on the directed communication topology, combining the NDO and FNTSMC, distributed cooperative attitude controller for MUAVs is proposed, which can guarantee that the tracking errors converge to the regions containing the origin in finite time e rest of this paper is organized as follows. In denotes the n × n identity matrix, and In ∈ Rn(0n ∈ Rn) is a column vector with each entry being I(0). λmax(M) be the largest eigenvalue of matrix M. diag(·) represents the diagonal matrix, and sgn(·) denotes the sign function. sigr(·) sgn(·)| · |r
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