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.

For the time-varying trajectory tracking control problem of the relative motion configuration of spacecraft formation, a distributed coordinated control method was designed based on the PH (port-Hamiltonian) model and generalized canonical transformation, using IDA-PBC (interconnection and damping assignment passivity-based control) algorithm. Through the PH modeling and generalized canonical transformation of the linear dynamics of spacecraft formation, the trajectory tracking error PH system was obtained. Under the assumption that the topological structure is connected and fixed, a distributed coordinated control method for formation trajectory tracking considering relative errors between neighboring spacecraft was derived based on IDA-PBC algorithm and using the PH model of relative motion errors. Numerical simulation verifies the effectiveness of the control method. The results show that the PH method can complete the trajectory tracking control of spacecraft formation, which provides a new effective method for the distributed coordinated control of spacecraft formation.