Consistent Formation Control of UAVs Under Wind Interference and Input Constraints
Aiming at the problems of wind disturbance and actuator input constraints during the formation flight of fixed-wing unmanned aerial vehicles(UAVs),a distributed cooperative control method with virtual leader is designed.The kine-matics model of UAVs in wind field environment is established,and a smooth function which can deal with asymmetric upper and lower bounds is used to limit the input.The consistent formation control law of trajectory tracking under con-stant wind disturbance and input constraints is derived by state feedback.Furthermore,considering random wind distur-bance,a robust sliding mode formation control law with input constraints is designed.The simulation results show that compared with traditional algorithms,the proposed formation control law can achieve wind-resistant trajectory tracking formation flying under input constraints,and has faster convergence speed and higher control accuracy.
wind disturbanceinput constraintUAVs formationconsistency controlsliding mode control
万方数据
维普
