Finite-time formation control of quadrotors based on sliding mode method

摘要

Constructing and maintaining formation is a hot pot due to the high performance and efficiency of cooperative flight. A formation control law based on terminal sliding mode method with high-precision tracking capability is presented to ensure the formation can be realized in limited time. The member kinematics model of the quad-rotor unmanned aerial vehicles (UAVs) is established and can be decomposed into two steps. Firstly, we propose a finite-time state estimating algorithm and obtain the system error model. Then the position control signal is designed while the angular subsystem can track the desired orientation. Simulation results show that, the followers can estimate the maneuvers of the leader precisely according to the directed communication, and maintain the formation quickly and stably.