Time-varying Formation Tracking Control for Multi-UAV Systems with Nonsingular Fast Terminal Sliding Mode

机译：具有非UVAV系统的时变形跟踪控制，具有非UV Systems，具有非UV系统的非UV系统

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摘要

This paper deals with the time-varying formation tracking control problem for multiple unmanned aerial vehicle (multi-UAV) systems, where the UAVs are required to form a predefined time-varying formation while tracking the trajectory of the leader. A finite-time formation tracking control law is designed to realize time-varying formation tracking by utilizing nonsingular fast terminal sliding mode (NFTSM), which can speed up the convergence rate and be free from singularity problem. The finite-time stability and robustness of the close-loop system is proven using Lyapunov stability theory. Finally, numerical simulation results verify the effectiveness of the proposed control law.

机译：本文涉及多个无人驾驶车辆（多UAV）系统的时变形跟踪控制问题，其中无人机需要在跟踪领导者的轨迹时形成预定的时变形成。有限时间形成跟踪控制定律旨在通过利用非垂直的快速终端滑动模式（NFTSM）来实现时变形跟踪，其可以加速收敛速度并没有奇点问题。使用Lyapunov稳定性理论证明了闭环系统的有限时间稳定性和鲁棒性。最后，数值模拟结果验证了拟议的控制法的有效性。

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来源
《Youth Academic Annual Conference of Chinese Association of Automation》|2017年|639-1282p|共6页
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作者
Tianyi Xiong; Zhiqiang Pu; Jianqiang Yi;
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原文格式 PDF
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中图分类 TP2-53;
关键词
Multi-UAV system; Formation tracking control; Nonsingular fast terminal sliding mode; Finite time;

机译：多UAV系统;形成跟踪控制;非垂直终端滑动模式;有限时间;

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专利

1. Distributed sliding mode control for time-varying formation tracking of multi-UAV system with a dynamic leader [J] . Wang Jianhua, Han Liang, Dong Xiwang, Aerospace science and technology . 2021,第Apra期

机译：具有动态领导者的多UV系统时变形跟踪的分布式滑模控制
2. Nonsingular Fast Terminal Sliding Mode Tracking Control for a Class of Uncertain Nonlinear Systems [J] . Siyi Chen, Wei Liu, Huixian Huang Journal of control science and engineering . 2019,第PTa1期

机译：一类不确定非线性系统的非线性快速端子滑动模式跟踪控制
3. Nonsingular Fast Terminal Sliding Mode Tracking Control for a Class of Uncertain Nonlinear Systems [J] . Siyi Chen, Wei Liu, Huixian Huang Journal of control science and engineering . 2019,第4期

机译：一类不确定非线性系统的非线性快速端子滑动模式跟踪控制
4. Time-varying formation tracking control for multi-UAV systems with nonsingular fast terminal sliding mode [C] . Tianyi Xiong, Zhiqiang Pu, Jianqiang Yi Youth Academic Annual Conference of Chinese Association of Automation . 2017

机译：具有非奇异快速终端滑模的多无人机系统的时变编队跟踪控制
5. Sliding mode control for systems with slow and fast modes. [D] . Nguyen, Thang Tien. 2010

机译：适用于慢速和快速模式的系统的滑模控制。
6. High Performance Both in Low-Speed Tracking and Large-Angle Swing Scanning Based on Adaptive Nonsingular Fast Terminal Sliding Mode Control for a Three-Axis Universal Inertially Stabilized Platform [O] . Yuanchao Wang, Yongming Yang, Haipeng Kuang, 2020

机译：基于自适应非角度快速端子滑动模式控制的低速跟踪和大角度摆动扫描的高性能高度性能用于三轴通用惯性稳定平台
7. Nonsingular Fast Terminal Sliding Mode Tracking Control for a Class of Uncertain Nonlinear Systems [O] . Siyi Chen, Wei Liu, Huixian Huang 2019

机译：一类不确定非线性系统的非线性快速端子滑动模式跟踪控制
8. Reusable Launch Vehicle Attitude Control Using a Time-Varying Sliding Mode Control Technique [R] . Shtessel, Yuri B., Zhu, J. Jim, Daniels, Dan 2002

机译：采用时变滑模控制技术的可重复使用运载火箭姿态控制

Time-varying Formation Tracking Control for Multi-UAV Systems with Nonsingular Fast Terminal Sliding Mode

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