TY - GEN
T1 - Fixed-time Second-order Sliding Mode Control Based on Disturbance Observer for UAV Formation
AU - Zhou, Zixiang
AU - Feng, Xiaoxue
AU - Pan, Feng
AU - Xie, Tian
AU - Li, Zhenxun
N1 - Publisher Copyright:
© 2024 Asian Control Association.
PY - 2024
Y1 - 2024
N2 - In this paper, a kind of Unmanned aerial ve-hicle(UAV) formation controller with external disturbance is proposed. Firstly, a fixed-time disturbance observer(FTDO) is designed through fixed-time sliding mode(FTSM), which enable each follower identify the external disturbance effectively. On this basis, a fixed-time second-order sliding mode controller is designed to control each follower to form and maintain a preset formation and follow the leader within a fixed time unrelated to the initial state of the system, while greatly reduces the chattering problem of conventional sliding mode controller. The stability of the FTDO and proposed controller is proved by Lyapunov theory, and the effectiveness is verified by simulation.
AB - In this paper, a kind of Unmanned aerial ve-hicle(UAV) formation controller with external disturbance is proposed. Firstly, a fixed-time disturbance observer(FTDO) is designed through fixed-time sliding mode(FTSM), which enable each follower identify the external disturbance effectively. On this basis, a fixed-time second-order sliding mode controller is designed to control each follower to form and maintain a preset formation and follow the leader within a fixed time unrelated to the initial state of the system, while greatly reduces the chattering problem of conventional sliding mode controller. The stability of the FTDO and proposed controller is proved by Lyapunov theory, and the effectiveness is verified by simulation.
KW - disturbance observer
KW - fixed-time control
KW - sliding mode control(SMC)
KW - unmanned aerial vehicle(UAV) formation
UR - http://www.scopus.com/inward/record.url?scp=85205714049&partnerID=8YFLogxK
M3 - Conference contribution
AN - SCOPUS:85205714049
T3 - 14th Asian Control Conference, ASCC 2024
SP - 2011
EP - 2016
BT - 14th Asian Control Conference, ASCC 2024
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 14th Asian Control Conference, ASCC 2024
Y2 - 5 July 2024 through 8 July 2024
ER -