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| Controller Design of the UAV Formation Based on Adaptive Integral Sliding Mode |
| LIU Chen1， XIE Baodi1， DONG Guobao1， HUO Da1， DUAN Yuxin1，XIA Chuan2 |
| 1. Science and Technology on Space System Simulation Laboratory， Beijing Simulation Center， Beijing 100854， China； 2. Beijing Institute of Electronic System Engineering， Beijing 100854， China |
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Abstract The controller design problem of a class of UAV (unmanned aerial vehicle) formation systems with bounded disturbance is studied in this paper. Based on adaptive integral sliding mode control frame, a novel adaptive controller is proposed. The adaptive law is introduced to estimate the upper bound of disturbance. The effect of disturbance can be cancelled in the designed protocol. The stability of the closed UAV formation system is analyzed by Lyapnov method. Simulation results validate that the controller proposed in this paper can guarantee the robustness of the closed-loop system, the continuity of the control signal and the signal is relatively small. Hence, the method is prone to apply in practical engineering.
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Received: 27 November 2020
Published: 25 March 2021
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2021, Vol. 4 
