提出了一种基于改进指数趋近律的滑模控制器的无人机编队建模与控制方法。首先采用弹性系统模型对无人机编队进行动力学分析, 把每个无人机看作一个质量点, 无人机之间的位置关系可以视为编队控制时的约束力; 在此基础上采用一种固定的通信拓扑, 对编队平衡状态进行分析, 建立无人机编队的动力学模型。同时利用一种基于改进指数趋近律的滑模控制器实现无人机编队协同控制, 以此加快系统稳定的收敛速度, 削弱传统滑模控制器的抖振现象, 保证无人机编队协同控制的稳定性。最后,通过实际无人机编队飞行试验来验证无人机编队动力学模型的可行性与无人机编队控制器的稳定性。

A UAV formation modeling and control method based on sliding mode controller with improved exponential reaching law is proposed.Firstly,the elastic system model is used to analyze the dynamics of UAV formation.Each UAV is regarded as a mass point,and the positional relationship among UAVs can be regarded as the binding force during formation control.On this basis,a fixed communication topology is adopted to analyze the balance state of UAV formation,and the dynamics model of UAV formation is established.At the same time,a sliding mode controller based on improved exponential reaching law is used to realize the cooperative control of UAV formation,so as to speed up the convergence to system stability,weaken the chattering phenomenon of traditional sliding mode controller and ensure the stability of cooperative control of UAV formation.Finally,the feasibility of UAV formation dynamics model and the stability of UAV formation controller are verified by actual UAV formation flight tests.