Based on Event-Triggered Sliding Mode Control Second-order of Multi-UAV Leader-Follower Consensus

Fuyin Yao; Hongwei Ren

doi:10.6919/ICJE.202503_11(3).0002

Authors

Fuyin Yao
Hongwei Ren

DOI:

https://doi.org/10.6919/ICJE.202503_11(3).0002

Keywords:

Leader-following; Consensus of Second-order Multi-UAV Systems; Event-Triggered Control; Distributed Sliding-Mode Control.

Abstract

The study investigates the leader-following consensus problem of second-order multi-unmanned aerial vehicle (UAV) systems under fixed directed topology. To address the system's disturbances and uncertainties, a sliding mode control method is considered to ensure robustness against external perturbations. To conserve network and computational resources, an event-triggered sliding mode control algorithm for leader-following consensus is proposed. For each follower UAV, a trigger function based on the state error is designed, which takes a value of zero only when the state error meets specific conditions, thereby triggering events and updating and transmitting their own sampled information. Between two adjacent event-triggering moments, the control input is only influenced by the leader's control signal. The stability of the multi-UAV controller is verified using Lyapunov stability theory, proving the system's stability. Subsequently, a simulation of a formation of six UAVs was conducted to validate the practicality of the theoretical results.

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