基于无源滑模的无人机编队分布式控制

doi:10.7527/S1000-6893.2025.32965

Abstract

Abstract:

Based on the port-Hamiltonian system theory and sliding mode control method， a passivity-based sliding mode method for distributed control of Unmanned Aerial Vehicles （UAVs） formation is designed. Firstly， a distributed formation error model was established based on the 3-DOF nonlinear UAVs formation system model and consensus estimation algorithm. Secondly， based on the port-Hamiltonian system theory， the UAVs formation system was modeled as a port-Hamiltonian system. Then， based on the distributed formation error model， the expected Hamiltonian energy function of the system is designed， and the sliding modulus is introduced into the expected Hamiltonian energy function through the energy integer technique， so that the passivity-based sliding mode control law is designed， and the stability proof and robustness analysis of the designed passivity-based sliding mode control method are carried out. Finally， the designed passivity-based sliding mode control law is simulated and verified. The simulation results show that the designed passivity-based sliding mode control law can make the state of the UAV in the swarm converge to the sliding mode surface and then converge along the sliding mode surface to the desired state， while exhibiting certain advantages in performance and disturbance rejection.

Key words: port-Hamiltonian system, passivity-based control, sliding mode control, UAVs formation control, distributed control

CLC Number:

V249.121

Xiaolong HE, Qifeng CHEN, Wenkang HAO. Distributed control of UAVs formation based on passivity-based sliding mode method[J]. Acta Aeronautica et Astronautica Sinica, 2026, 47(S1): 732965.

Figures/Tables 5

Table 1

Initial states of five UAVs

UAV编号	$x 0$	$y 0$	$h 0$	$V 0$	$χ 0$
1	400	400	650	50	$0$
2	650	650	750	22.5	$π / 6$
3	900	900	850	25	$π / 3$
4	1 150	1 150	950	27.5	$π / 2$
5	1 400	1 400	1 050	30	$2 π / 3$

Table 1

Fig.1

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Fig.4

References 23

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Distributed control of UAVs formation based on passivity-based sliding mode method

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