This paper investigates the observer-based fixedtime formation tracking method of fixed-wing UAVs subject to unknown external disturbances. To realize the desired formation configuration, a hierarchical control strategy consisting of distributed observer and formation controller is proposed. Firstly, a distributed fixed-time observer for each follower is proposed to estimate the state information of the leader, which promises the fixed-time convergence. Meanwhile, a non-singular fixed-time sliding-mode tracking controller is proposed, which eliminates the influence of external disturbances and overcomes the singularity of the terminal sliding-mode control. Finally, the effectiveness of the proposed control strategy is verified by numerical simulation.
Observer-Based Fixed-Time Distributed Formation Tracking Control for Fixed-Wing UAVs Under External Disturbances
16.05.2025
1400804 byte
Aufsatz (Konferenz)
Elektronische Ressource
Englisch
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