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.
Distributed Predefined Time Sliding Mode 3D Formation Control of Uavs
2025-05-16
935187 byte
Conference paper
Electronic Resource
English
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