Research on Consensus Formation Based on Double Closed-Loop Sliding Mode Control

The design of a multi -UAV's(multi-unmanned aerial vehicles) double closed-loop sliding mode formation controller based on consensus in a three-dimensional environment is proposed in this paper. Trajectory tracking and formation control can be implemented by the controller. The sliding mode controller(SMC) is a robust method for controlling nonlinear systems and also keep the systems insensitive to external disturbance. First, the dynamic model of the UAV is introduced, considered the existence of disturbence in the system, and then divided into inner loop and outer loop. Owing to the under-actuated characteristic of the system, a robust control law is designed by the sliding mode control. Finally, the consensus algorithm was proposed for the controlling of the formation. The simulation results demonstrate the effectiveness of the proposed control method.