Distributed cooperative control of autonomous multi-agent UAV systems using smooth control

• 来源期刊: 系统工程与电子技术（英文版）
• 年，卷（期）: 2020,（6）
• 所属期刊栏目: CONTROL THEORY AND APPLICATION
• 页码范围: 1297-1307
• 页数: 11页
• 语种: 英文
• DOI: 10.23919/JSEE.2020.000100

摘要

This paper addresses the cooperative control prob-lem of multiple unmanned aerial vehicles (multi-UAV) systems.First,a new distributed consensus algorithm for second-order nonlinear multi-agent systems (MAS) is formulated under the leader-following approach.The algorithm provides smooth input signals to the agents' control channels,which avoids the chat-tering effect generated by the conventional sliding mode-based control protocols.Second,a new formation control scheme is developed by integrating smooth distributed consensus control protocols into the geometric pattern model to achieve three-di-mensional formation tracking.The Lyapunov theory is used to prove the stability and convergence of both distributed con-sensus and formation controllers.The effectiveness of the pro-posed algorithms is demonstrated through simulation results.