Fixed-time Event-triggered Formation Control for Multiple UAVs

Authors

Ye Shuai, 1. College of Automation & College of Artificial Intelligence, Nanjing University of Posts and Telecommunications, Nanjing 210023, China; ;2. Jiangsu Engineering Lab for Iot Intelligent Robots (IotRobot), Nanjing 210023, China;
Guoping Jiang, 1. College of Automation & College of Artificial Intelligence, Nanjing University of Posts and Telecommunications, Nanjing 210023, China; ;2. Jiangsu Engineering Lab for Iot Intelligent Robots (IotRobot), Nanjing 210023, China;
Yingjiang Zhou, 1. College of Automation & College of Artificial Intelligence, Nanjing University of Posts and Telecommunications, Nanjing 210023, China; ;2. Jiangsu Engineering Lab for Iot Intelligent Robots (IotRobot), Nanjing 210023, China;
Liu Shang, 1. College of Automation & College of Artificial Intelligence, Nanjing University of Posts and Telecommunications, Nanjing 210023, China; ;2. Jiangsu Engineering Lab for Iot Intelligent Robots (IotRobot), Nanjing 210023, China;

Abstract

Abstract: To solve the quadrotor UAV formation control problem, an event-triggered fixed time formation control algorithm of multi quadrotor UAV system is studied. For the attitude loop control problem of UAV, the switching fixed time sliding surface is selected to make the system reach the equilibrium point in a fixed time when the system state is on the sliding surface. A fixed-time sliding mode controller is designed so that the system state which is not on the sliding surface can reach the sliding surface within a fixed time. In view of the position loop control problem of UAV, the event-driven fixed time formation control strategy is studied. It is analyzed that the shortest trigger time interval of position controller is a finite value and there is no Zeno phenomenon. The effectiveness of the proposed control algorithm is verified by numerical simulations.

Recommended Citation

Shuai, Ye; Jiang, Guoping; Zhou, Yingjiang; and Shang, Liu (2021) "Fixed-time Event-triggered Formation Control for Multiple UAVs," Journal of System Simulation: Vol. 33: Iss. 10, Article 15.
DOI: 10.16182/j.issn1004731x.joss.20-0613
Available at: https://dc-china-simulation.researchcommons.org/journal/vol33/iss10/15

First Page

2420

Revised Date

2020-10-27

DOI Link

https://doi.org/10.16182/j.issn1004731x.joss.20-0613

Last Page

2431

CLC

TP391

Recommended Citation

Ye Shuai, Jiang Guoping, Zhou Yingjiang, Liu Shang. Fixed-time Event-triggered Formation Control for Multiple UAVs[J]. Journal of System Simulation, 2021, 33(10): 2420-2431.

Corresponding Author

Yingjiang Zhou,

DOI

10.16182/j.issn1004731x.joss.20-0613