Abstract: For UAVs close formation system with nonlinear, under-actuated and strong coupling, an improved active disturbance rejection sliding mode control algorithm is proposed. First, extended state observer is designed to estimate the uncertainties such as aerodynamic coupling and compensate them in control law. Then, in order to reduce the difficulties of parameter optimization and controlling for under-actuated system, the ADRC is combined with sliding mode control to design the compound controller. Finally, Lyapunov function is used to prove that the tracking error converges uniformly to zero. Simulation results show that the proposed method not only simplifies the design of the controller, but also has high control precision and stronger robustness. The controller can effectively transform and keep formation configuration, and has a good expandability.

Key words: UAVs close formation, aerodynamic coupling, active disturbance rejection control, sliding mode control

摘要： 对于具有非线性、欠驱动、强耦合特性的无人机紧密编队飞行系统，提出一种改进的自抗扰滑模控制算法。首先，针对模型中存在的气动耦合等不确定干扰因素，设计相应的扩张状态观测器进行实时估计并在控制律中补偿。接着，基于滑模变结构控制理论设计自抗扰滑模编队控制器，解决了参数配置难度大和欠驱动系统的控制问题。最后，通过Lyapunov函数证明跟踪误差一致收敛到零。仿真结果表明该方法简化了控制器的设计，控制精度高且鲁棒性更好，所设计的控制器能有效实现队形的变换和保持，具有可扩充性。

关键词: 无人机紧密编队, 气动耦合, 自抗扰控制, 滑模控制