For the problem of fixed-wing unmanned aerial vehicle (UAV) formation trajectory tracking control, this paper introduces the homogeneous theory to research the fixed-time consensus control method of UAV formation with a virtual leader. The formation motion mode of fixed-wing UAV is established, and through homogeneous theory, the fixed-time consensus sliding mode surface and formation control law are designed to ensure that the system state converges to the same within a fixed time, which is independent of the initial condition. The global stability of the system is proved by Lyapunov method and homogeneous theory. Simulation results demonstrate that under external disturbances, both position and velocity errors of the formation system can converge in a fixed time, and the formation errors are small.

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Homogeneous Theory-Based Fixed-Time Consensus Control for UAV Formations

  • Bohan Zhang,
  • Zhe Zhu,
  • Jiangtao Huang,
  • Qinlin Yang,
  • Fei Li,
  • Qiu He

摘要

For the problem of fixed-wing unmanned aerial vehicle (UAV) formation trajectory tracking control, this paper introduces the homogeneous theory to research the fixed-time consensus control method of UAV formation with a virtual leader. The formation motion mode of fixed-wing UAV is established, and through homogeneous theory, the fixed-time consensus sliding mode surface and formation control law are designed to ensure that the system state converges to the same within a fixed time, which is independent of the initial condition. The global stability of the system is proved by Lyapunov method and homogeneous theory. Simulation results demonstrate that under external disturbances, both position and velocity errors of the formation system can converge in a fixed time, and the formation errors are small.