Modified SMC-Based Formation Tracking Control for a Multi-Missile System with Input Saturation
Jianfeng Li, Jun Fei Fan, Shenmin Song · 2023
A fully distributed consensus protocol with fixed-time property is proposed to tackle the formation tracking issue for a multi-missile system in the presence of input saturation and external disturbances. A novel sliding manifold with a predefined time convergence is constructed, which can avoid the singularity of input signals. To enhance the robustness and control accuracy of the controller, a predefined time SMC-based consensus protocol combined with a fixed-time disturbance observer is proposed, in which the external disturbances are estimated and compensated adaptively. Furthermore, a dynamic model of modified consensus tracking errors combined with a second-order anti-windup compensator is constructed to cope with the manipulation saturation problem. The simulation results show the effectiveness of the proposed method.