Open AccessAdaptive sliding mode control for multi-UAV systems with parametric uncertainties
Author(s) -
Lei Yu,
Yongchun Liu,
Da Lin,
Qiang Han
Publication year - 2019
Publication title -
iop conference series. materials science and engineering
Language(s) - English
Resource type - Journals
eISSN - 1757-899X
pISSN - 1757-8981
DOI - 10.1088/1757-899x/569/4/042007
Subject(s) - control theory (sociology) , parametric statistics , sliding mode control , lyapunov stability , inertial frame of reference , adaptive control , synchronization (alternating current) , mode (computer interface) , computer science , lyapunov function , stability theory , stability (learning theory) , robust control , control system , mathematics , control (management) , engineering , nonlinear system , physics , artificial intelligence , statistics , quantum mechanics , operating system , computer network , channel (broadcasting) , machine learning , electrical engineering
This paper proposes a parametric uncertain adaptive sliding mode control method for multi-UAVs formation. The tracking effect is well under the condition of uncertain inertial matrix parameters and external interference. An adaptive law is designed to estimate the inertial matrix parameters of each UAV in the formation on-line, and the estimated values are used in the sliding mode controllers, which guarantee that the tracking error is uniformly asymptotically converged to zero. Then the adaptive sliding mode control the stability performance of is proved by Lyapunov stability theory. Finally, simulation illustrated that under the uncertain conditions and external disturbances in the system, the method can achieve the Multi-UAVs formation with a stable attitude and speed synchronization.