Fixed-time Event-triggered Formation Control for Multiple UAVs

doi:10.16182/j.issn1004731x.joss.20-0613

Abstract

Abstract: To solve the quadrotor UAV formation control problem, an event-triggered fixed time formation control algorithm of multi quadrotor UAV system is studied. For the attitude loop control problem of UAV, the switching fixed time sliding surface is selected to make the system reach the equilibrium point in a fixed time when the system state is on the sliding surface. A fixed-time sliding mode controller is designed so that the system state which is not on the sliding surface can reach the sliding surface within a fixed time. In view of the position loop control problem of UAV, the event-driven fixed time formation control strategy is studied. It is analyzed that the shortest trigger time interval of position controller is a finite value and there is no Zeno phenomenon. The effectiveness of the proposed control algorithm is verified by numerical simulations.

Key words: multiple quadrotor aircraft, event-triggered, fixed-time, formation control, inner and outer ring control

CLC Number:

TP391

Ye Shuai, Jiang Guoping, Zhou Yingjiang, Liu Shang. Fixed-time Event-triggered Formation Control for Multiple UAVs[J]. Journal of System Simulation, 2021, 33(10): 2420-2431.

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