Formation Control of Unmanned Aerial Vehicles based on Cooperative Sliding Mode Adaptive Control

Minghui Xie; Hongwei Ren

doi:10.6919/ICJE.202504_11(4).0022

Authors

Minghui Xie
Hongwei Ren

DOI:

https://doi.org/10.6919/ICJE.202504_11(4).0022

Keywords:

Multi-UAV System; Formation Control; Cooperative Sliding Mode Adaptive Control.

Abstract

This paper investigates the formation control problem of quadrotor unmanned aerial vehicles (UAVs) under unknown disturbances and proposes a cooperative sliding mode adaptive control method to address the challenges of multi-UAV formation control in complex dynamic environments. To suppress the chattering phenomenon in sliding mode control, a saturation function is introduced, achieving smooth switching and effective suppression of high-frequency oscillations. The adaptive control mechanism dynamically adjusts control parameters based on real-time state errors, enhancing the system's robustness and adaptability. The cooperative control strategy ensures the synchronization and formation stability of multiple UAVs, successfully accomplishing the formation flight mission. The stability of the proposed strategy is proved using the Lyapunov method. Finally, using the leader-follower model, comparative simulations between cooperative sliding mode control and cooperative sliding mode adaptive control are conducted. The simulation results demonstrate that the proposed method has significant advantages in maintaining the desired formation, improving tracking accuracy, and enhancing disturbance rejection, providing an efficient and reliable solution for UAV formation control.

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