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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
Conference Name2017 the 32nd Youth Academic Annual Conference of Chinese Association of Automation (YAC 2017)
Conference DateMay 19-21, 2017
Conference PlaceHefei, China
PublisherInstitute of Electrical and Electronics Engineers Inc
Abstract

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.

KeywordMulti-uav System Formation Tracking Control Nonsingular Fast Terminal Sliding Mode Finite Time
Indexed ByEI
Language英语
Document Type会议论文
Identifierhttp://ir.ia.ac.cn/handle/173211/23658
Collection综合信息系统研究中心
Affiliation1.Institute of Automation, Chinese Academy of Sciences, Beijing 100190, China
2.University of Chinese Academy of Sciences, Beijing 100049, China
First Author AffilicationInstitute of Automation, Chinese Academy of Sciences
Recommended Citation
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.
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