Abstract
AbstractThis paper mainly introduces the event-triggered control strategy into the formation control of unmanned aerial vehicle (UAV) systems. The event-triggered strategy is capable of reducing the update frequency of formation controller and the communication frequency between unmanned aerial vehicles (UAVs). Firstly, a form of 3-DOF model is established for UAV systems. Then, an exponentially convergent sliding mode controller is designed. On the basis of event-triggered strategy, event-triggered function and event-triggered condition are proposed. Theoretical analysis shows that the system is asymptotically stable and Zeno behavior is nonexistence. Finally, numerical simulations are applied to verify the effectivity of the designed UAV formation controller. The simulation indicated that 5 UAVs can fly with the predefined formation and track scheduled trajectory.KeywordsEvent-triggered strategyUAV formation controlSliding mode control
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