The distributed trajectory tracking problem for multiple UAVs under unknown external disturbance is investigated.A new nonlinear robust trajectory tracking strategy for multiple UAVs is proposed.The dynamic model for the UAVs' formation is illustrated in the Tangent frame.For the trajectory tracking problem,a robust formation tracking control strategy based on robust integral of the signum of error(RISE)is designed to compensate for the effects of unknown external disturbances,which improves the robustness of the UAVs' formation system.Based on the Lyapunov stability analysis,it is proved that the global asymptotic convergence of the coordination errors and the semi-global asymptotic convergence of the UAVs' position tracking errors are achieved.The proposed formation control strategy is validated via real-time experiments that are performed on the self-build UAVs' formation flight control testbed.Flights without wind disturbance and flights with disturbance are all performed.The performance comparison experiment with the conventional sliding mode control algorithm is performed.The experimental results show that the designed control strategy can achieve good coordinated trajectory tracking of multiple UAVs,and has better control performance compared with normal sliding mode control law.
关键词
控制科学与工程/无人机集群/分布式跟踪控制/协同控制/抗扰控制/实验验证
Key words
control science and engineering/UAV formation/distributed trajectory tracking control/cooperative control/disturbance rejection control/experimental verification
维普
万方数据