Self-triggered sliding mode control for distributed formation of multiple quadrotors

摘要

In this paper, the distributed formation trajectory tracking problem of multiple quadrotors in three-dimensional space is researched. In order to drive follower quadrotors fly along an expected trajectory in a fixed geometry, the dynamic model with six-degrees-of-freedom is established in the existence of external time-varying disturbances. The quadrotor system is divided into position loop and attitude loop. The distributed formation algorithm is proposed for each follower based on relative states and formation information of the neighboring quadrotors. In the position loop, sliding mode control is employed to suppress time-varying disturbance, and in the attitude loop, a self-triggered algorithm is introduced to reduce data transmissions and computation expenditures. (C) 2020 The Franklin Institute. Published by Elsevier Ltd. All rights reserved.