Multi-UAV Autonomous Formation Attitude Control Based on Eigenvalue Placement Sliding Mode Control
Wu We · Measurement & Control Technology · 2015
Variable structure control method is a key method for dealing with UAV attitude control.The design of sliding mode is relatively difficult.Based on Ackermann formula and non-singular linear transforming matrix,the eigenvalues of the original system are replaced.Moreover,the sliding mode of the MIMO system is designed to achieve asymptotical stability with effective controller.With the purpose of precisely controlling the attitudes of UAV formation,longitudinal and lateral controllers are constructed respectively.Simulation results prove the validity of the proposed controller.