天津大学 电气自动化与信息工程学院,天津 300072
School of Electrical and Information Engineering,Tianjin University,Tianjin 300072,China
In this paper, the time-varying formation control of multiple UAVs based on distributed communication networks is investigated. Considering the effects of unknown disturbances on the cooperative formation system of multiple UAVs, a new continuous nonlinear robust control scheme is proposed. Firstly, a distributed formation error system is constructed based on the consistency method, which reduces the dependence of global formation information for the formation controller. Secondly, a robust control algorithm based on the integration of error sign function(RISE) is employed to compensate the effects of unknown external disturbances and improve the robustness of the closed-loop system. Thirdly, the semi-global asymptotic convergence of the formation error is proved via Lyapunov based stability analysis. Finally, real-time flight experiments are performed on the multiple quadrotor UAVs testbed to validate the proposed formation control scheme. The experimental results show that the distributed formation control algorithm proposed in this paper can achieve good time-varying formation control performance under the effects of external disturbances.