ACTA AERONAUTICAET ASTRONAUTICA SINICA >
Predefined time tracking control of unmanned aerial vehicles under stochastic switching topology
Received date: 2024-06-05
Revised date: 2024-07-06
Accepted date: 2024-07-10
Online published: 2024-07-22
Supported by
National Natural Science Foundation of China(62173175);Natural Science Foundation of Shandong Province(ZR2024MF032)
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.
Ji MA , Xiangyong CHEN , Guanghui WEN , Long CHENG , Jianlong QIU . Predefined time tracking control of unmanned aerial vehicles under stochastic switching topology[J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2024 , 45(S1) : 730793 -730793 . DOI: 10.7527/S1000-6893.2024.30793
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