Research On Formation Control Of Unmmaned Arieal Vehicle Based On Consensus Theory

In this paper,a distributed control protocol is proposed to realize the formation control problem of Multi-UAV system.Considering the nonholonomic property of quadrotors,a backstepping combined with sliding mode control method is used to design the controller.The proposed controller can realize independent control of position in three directions and attitude in one direction under inertial coordinate frame.In addition,considering the disturbance in practical situation,a finite-time sliding mode observer is proposed to estimate the disturbance in finite time.Meanwhile,a higher-order sliding mode differentiator is proposed,which can give an accurate estimation to the higher order derivatives of system states,which is hard to be measures in practice.Furthermore,since the parameters in higher-order differentiator is hard to be tuned,an adaptive law is proposed,which can tune the parameters online and simplify the tuning process.Lyapunove method is used to prove the stability of the closed-loop system.Matlab simulation is used to further illustrate the effectiveness of the proposed controller.Considering the formation control background.A distributed control protocol is proposed based on graph theory and consensus theory.A sliding mode control method combined with backstepping method is adopted to realized the design of distributed control protocol.The proposed control protocol can realized the formation control of Multi-UAV system under directed topologies.Lyapunov method and Matlab simulation is used to prove the effectiveness of the control protocol.