Event-Triggered Finite-Time Attitude Cooperative Control for Multiple Unmanned Aerial Vehicles | Zendy

Qiang Han | Zendy; Yongshuai Zhou | Zendy; Xin Liu | Zendy; Xianguo Tuo | Zendy

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Event-Triggered Finite-Time Attitude Cooperative Control for Multiple Unmanned Aerial Vehicles

Author(s) -

Qiang Han,

Yongshuai Zhou,

Xin Liu,

Xianguo Tuo

Publication year - 2022

Publication title -

applied bionics and biomechanics

Language(s) - English

Resource type - Journals

SCImago Journal Rank - 0.397

H-Index - 23

eISSN - 1754-2103

pISSN - 1176-2322

DOI - 10.1155/2022/5875004

Subject(s) - control theory (sociology) , quaternion , lyapunov stability , controller (irrigation) , attitude control , lyapunov function , mode (computer interface) , stability (learning theory) , computer science , invertible matrix , singularity , zeno's paradoxes , angular velocity , scheme (mathematics) , terminal sliding mode , control (management) , engineering , control engineering , sliding mode control , mathematics , artificial intelligence , nonlinear system , mathematical analysis , physics , geometry , quantum mechanics , machine learning , pure mathematics , agronomy , biology , operating system

The finite-time attitude cooperative control problem for a group of multiple unmanned aerial vehicle systems with external disturbances and uncertain parameters is discussed in this paper. The dynamics of the systems is described by quaternion avoiding the singularity. Based on the attitude error and angular velocity error, a novel nonsingular terminal sliding mode surface is proposed for the controller with event-triggered scheme. The lumped disturbances are estimated by neural networks with adaptive law. The communication frequency is decreased by the proposed distributed event-triggered based sliding mode controller. Lyapunov theory is utilized to analyze the stability of the systems, and the Zeno behavior is avoided by rigorous proof. Finally, simulation examples are presented to illustrate the efficiency of the proposed control algorithm.

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