关键词: 无人机, 预设时间稳定, 分布式跟踪控制, 滑模控制, 随机切换拓扑

Abstract: A distributed predefined time adaptive sliding mode control method is proposed for the tracking control prob-lem of a second-order fixed-wing unmanned aerial vehicle(UAV) system with stochastic switching communi-cation topologies structure. Firstly, a three degree of freedom mathematical model for fixed-wing UAV cluster is established and transformed into a second-order integrator model with disturbances. Based on the model established above, a suitable sliding surface is selected, and a distributed predefined time tracking controller is designed on this basis. Considering the interference problem faced by the UAV system during flight, an adaptive control strategy was proposed to handle it. In addition, this article cites a predefined time theorem and proves through Lyapunov stability theory that the second-order UAV system can achieve stability within the predefined time. Finally, numerical simulations have demonstrated the feasibility of the proposed tracking control strategy for a fixed-wing UAV system with stochastic switching topologies.

Key words: UAV, Predefined time stability, Distributed tracking control, Sliding mode ontrol, Stochastic switching topologies