High-order Sliding Mode Formation Control of Multiple Aerial Robotic Vehicle Systems with Time-Varying Disturbances

Abstract

AbstractThe robust formation control problems for a group of aerial robotic vehicles (ARVs) with external time-varying disturbances are investigated. Unlike previous analysis methods, the formation control of multiple ARVs in this paper is transformed into the synchronous control problem. Firstly, the synchronous control objective of multiple ARVs is constructed using the cross-coupling synchronization control (CCSC) strategy and formation constraint. Then, to better deal with external time-varying disturbances, minimize the chatter from the controller and implement the synchronization control goal of multi-ARV systems, a robust synchronization controller for multi-ARV systems is developed, which combines high-order sliding mode control (HOSMC) and CCSC. Moreover, the stability of the developed HOSMC-based CCSC scheme is proved by Lyapunov stability theory. Finally, an example is given to verify the validity of the developed HOSMC-based CCSC scheme.KeywordsAerial robotic vehiclesSynchronous controlHigh-order sliding mode control