Distributed control of UAVs formation based on passivity-based sliding mode method

Based on the port-Hamiltonian system theory and sliding mode control method, a passivity-based sliding mode method for distributed control of Unmanned Aerial Vehicles (UAVs) formation is designed. Firstly, a distributed formation error model was established based on the 3-DOF nonlinear UAVs formation system model and consensus estimation algorithm. Secondly, based on the port-Hamiltonian system theory, the UAVs formation system was modeled as a port-Hamiltonian system. Then, based on the distributed formation error model, the expected Hamiltonian energy function of the system is designed, and the sliding modulus is introduced into the expected Hamiltonian energy function through the energy integer technique, so that the passivity-based sliding mode control law is designed, and the stability proof and robustness analysis of the designed passivity-based sliding mode control method are carried out. Finally, the designed passivity-based sliding mode control law is simulated and verified. The simulation results show that the designed passivity-based sliding mode control law can make the state of the UAV in the swarm converge to the sliding mode surface and then converge along the sliding mode surface to the desired state, while exhibiting certain advantages in performance and disturbance rejection.