Adaptive sliding mode control for multi-UAV systems with parametric uncertainties

2019 2nd International Conference on Advanced Materials, Intelligent Manufacturing and Automation

Yu, Liang^1 ; Liu, Yongchun^2 ; Lin, Da^3 ; Han, Qiang^1

School of Automation and Information Engineering, Sichuan University of Science and Engineering, Zigong, Sichuan

643000, China^1

School of Physics and Electronics Engineering, Sichuan University of Science and Engineering, Zigong, Sichuan

643000, China^2

School of Information Engineering, Xuzhou University of Technology, Xuzhou, Jiangsu

221000, China^3

关键词: Adaptive sliding mode control;    External disturbances;    External interference;    Lyapunov stability theory;    Parametric uncertainties;    Sliding mode controller;    Speed synchronizations;    Stability performance;   

Others  :  https://iopscience.iop.org/article/10.1088/1757-899X/569/4/042007/pdf
DOI  :  10.1088/1757-899X/569/4/042007

来源: IOP

【 摘 要 】

This paper proposes a parametric uncertain adaptive sliding mode control method for multi-UAVs formation. The tracking effect is well under the condition of uncertain inertial matrix parameters and external interference. An adaptive law is designed to estimate the inertial matrix parameters of each UAV in the formation on-line, and the estimated values are used in the sliding mode controllers, which guarantee that the tracking error is uniformly asymptotically converged to zero. Then the adaptive sliding mode control the stability performance of is proved by Lyapunov stability theory. Finally, simulation illustrated that under the uncertain conditions and external disturbances in the system, the method can achieve the Multi-UAVs formation with a stable attitude and speed synchronization.