Discrete Sliding Mode control of small UAS in tight formation flight under information constraints

摘要

This paper is concerned with a new control strategy based on discrete sliding mode control of small Unmanned Aerial Systems (UAS) in tight formation flight under information constraints. A discrete robust control strategy based on the sliding mode approach and a leader-follower scheme is proposed to achieve the desired flight performances while assuming realistic information constraints. A predictive reaching law is compared to a linear reaching law. This predictive discrete sliding mode control (PDSMC) strategy allows taking into account hard actuator constraints by solving an optimization problem at each time step. Also, this paper presents a meaningful study and comparison of the two discrete sliding mode control designs and time sampling continuous sliding mode control (TSCSMC). Here, the comparison focuses on the effect of discrete sampling on the control error analytically and in simulation. Effects on mesh stability are evaluated in simulation. Simulation results of a flight scenario with two different sampling frequencies demonstrate the efficiency of the proposed control strategy and show clearly the effect of the sampling time on the formation flight performance of the UAS obtained by the considered control strategies.