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Event-Triggered Finite-Time Attitude Cooperative Control for Multiple Unmanned Aerial Vehicles
Qiang Han1,2, Yongshuai Zhou2, Xin Liu2
1Robot Technology Used for Special Environment Key Laboratory of Sichuan Province, Southwest University of Science and Techno1ogy 621010, China.
Abstract:
The finite-time attitude cooperative control problem for a group of multiple unmanned aerial vehicle systems with external disturbances and uncertain parameters is discussed in this paper. The dynamics of the systems is described by quaternion avoiding the singularity. Based on the attitude error and angular velocity error, a novel nonsingular terminal sliding mode surface is proposed for the controller with event-triggered scheme. The lumped disturbances are estimated by neural networks with adaptive law. The communication frequency is decreased by the proposed distributed event-triggered based sliding mode controller. Lyapunov theory is utilized to analyze the stability of the systems, and the Zeno behavior is avoided by rigorous proof. Finally, simulation examples are presented to illustrate the efficiency of the proposed control algorithm.
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