This paper addresses the 3D formation control of unmanned aerial vehicles (UAVs) by proposing a distributed predefined-time sliding mode control method. The system consists of multiple UAVs guided by a virtual leader. A distributed predefined-time state observer (DPTSO) is designed to estimate the position and velocity of the virtual leader within a predefined time. Based on these estimates, a nonsingular predefined-time sliding mode control law is developed for each UAV to maintain a desired relative position within the formation. This control law ensures that the formation tracking error converges to zero within a predefined time. Simulations involving four underactuated UAVs validate the effectiveness of the proposed control scheme, demonstrating robust performance under varying disturbances.


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    Title :

    Distributed Predefined Time Sliding Mode 3D Formation Control of Uavs


    Contributors:
    Li, Danyu (author) / Wu, Zhigang (author) / Zhang, Fan (author)


    Publication date :

    2025-05-16


    Size :

    935187 byte





    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



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