Discrete Sliding Mode Control for Time-varying Formation Tracking of Multi-UAV System with a Dynamic Leader
Jianhua Wang, Feng Bao, Liang Han, Xiwang Dong, Qingdong Li, Zhang Ren · 2020
Time-varying formation tracking control problems for multi-UAV systems are investigated in this paper, where a leader with dynamic input is considered. A discrete-time formation protocol based on sliding mode control method is presented. Using Lyapunov stability approach, sufficient conditions for multi-UAV system to realize the desired formation tracking are given and the quasi-sliding mode band is expressed. An experiment with seven UAVs via Gazebo simulator is performed to verify the effectiveness of the formation tracking protocol.