Time-varying Formation Tracking Control for Multi-UAV Systems with Nonsingular Fast Terminal Sliding Mode | |
Xiong Tianyi1,2; Pu Zhiqiang1,2; Yi Jianqiang1,2 | |
2017 | |
会议名称 | 2017 the 32nd Youth Academic Annual Conference of Chinese Association of Automation (YAC 2017) |
会议日期 | May 19-21, 2017 |
会议地点 | Hefei, China |
出版者 | Institute of Electrical and Electronics Engineers Inc |
摘要 | This paper deals with the time-varying formation tracking control problem for multiple unmanned aerial vehicle (multi-UAV) systems, where the UAVs are required to form a predefined time-varying formation while tracking the trajectory of the leader. A finite-time formation tracking control law is designed to realize time-varying formation tracking by utilizing nonsingular fast terminal sliding mode (NFTSM), which can speed up the convergence rate and be free from singularity problem. The finite-time stability and robustness of the close-loop system is proven using Lyapunov stability theory. Finally, numerical simulation results verify the effectiveness of the proposed control law. |
关键词 | Multi-uav System Formation Tracking Control Nonsingular Fast Terminal Sliding Mode Finite Time |
收录类别 | EI |
语种 | 英语 |
文献类型 | 会议论文 |
条目标识符 | http://ir.ia.ac.cn/handle/173211/23658 |
专题 | 综合信息系统研究中心 |
作者单位 | 1.Institute of Automation, Chinese Academy of Sciences, Beijing 100190, China 2.University of Chinese Academy of Sciences, Beijing 100049, China |
第一作者单位 | 中国科学院自动化研究所 |
推荐引用方式 GB/T 7714 | Xiong Tianyi,Pu Zhiqiang,Yi Jianqiang. Time-varying Formation Tracking Control for Multi-UAV Systems with Nonsingular Fast Terminal Sliding Mode[C]:Institute of Electrical and Electronics Engineers Inc,2017. |
条目包含的文件 | ||||||
文件名称/大小 | 文献类型 | 版本类型 | 开放类型 | 使用许可 | ||
YAC_2017_paper_199.p(284KB) | 会议论文 | 开放获取 | CC BY-NC-SA | 浏览 |
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