随机切换拓扑下无人机集群预设时间跟踪控制

doi:10.7527/S1000-6893.2024.30793

Abstract

Abstract:

A distributed predefined time adaptive sliding mode control method is proposed to address the tracking control problem of a second-order fixed-wing Unmanned Aerial Vehicle （UAV） system with stochastic switching communication topology 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 this established model， a suitable sliding surface is selected， and a distributed predefined time tracking controller is designed. To handle the interference problem faced by the UAV system during flight， an adaptive control strategy was proposed. In addition， this paper 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 topology.

Key words: UAV, predefined time stability, distributed tracking control, sliding mode control, stochastic switching topology

CLC Number:

V249

Ji MA, Xiangyong CHEN, Guanghui WEN, Long CHENG, Jianlong QIU. Predefined time tracking control of unmanned aerial vehicles under stochastic switching topology[J]. Acta Aeronautica et Astronautica Sinica, 2024, 45(S1): 730793.

Figures/Tables 17

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Predefined time tracking control of unmanned aerial vehicles under stochastic switching topology

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