Event-Triggered Finite-Time Attitude Cooperative Control for Multiple Unmanned Aerial Vehicles

Abstract

The finite-time attitude cooperative control problem for a group of multiple unmanned aerial vehicle systems with external disturbances and uncertain parameters is discussed in this paper. The dynamics of the systems is described by quaternion avoiding the singularity. Based on the attitude error and angular velocity error, a novel nonsingular terminal sliding mode surface is proposed for the controller with event-triggered scheme. The lumped disturbances are estimated by neural networks with adaptive law. The communication frequency is decreased by the proposed distributed event-triggered based sliding mode controller. Lyapunov theory is utilized to analyze the stability of the systems, and the Zeno behavior is avoided by rigorous proof. Finally, simulation examples are presented to illustrate the efficiency of the proposed control algorithm.

Speed-Gradient Adaptive Control for Parametrically Uncertain UAVs in Formation

“…The simulation results of group UAV motion along a given trajectory are presented in Figure 3. In (17), the following output parameters y x , y y , y h were used: α x = α y = α h = 0.0397. The control law (23) constant parameters were set to k x = k y = k h = 0.0796.…”

“…The problem of cooperative control of a UAV group with finite-time orientation under conditions of external disturbances and parametric uncertainty was considered by Han et al [17]. Using a quaternion model of UAV dynamics, a non-singular sliding mode terminal surface was constructed for the event-triggered controller.…”