Distributed event-triggered sliding-mode control of second-order multi-UAV system with a dynamic leader

Abstract

This article delves into the issue of formation control for multi-UAV system considering dynamic inputs. It introduces a distributed event-triggered sliding mode control design for second-order multi-UAV systems, grounded on leader-following principles. Initially, contemplate the utilization of sliding mode control methods to tackle disturbances and uncertainties within the formation system, ensuring robustness against external interference. Additionally, event-triggered strategies are employed, reducing unnecessary control actions and conserving energy. This minimizes the network communication load and enhances system response time. Finally, an appropriate consensus algorithm is proposed, designed on the basis of event-triggered control, to ensure the consistency tracking effect of each UAV. The proposed controller’s stability is confirmed by Lyapunov’s stability theory, showcasing its capability to stabilize the system. Additionally, a triggering scheme is introduced to efficiently reduce state updates and eliminate Zeno behavior. Lastly, simulations of a formation problem involving six quadrotor UAVs are presented, confirming the practicality of the theoretical findings.