Design of UAV Formation Cooperative Controller Based on Terminal Integral Sliding Mode

The cooperative control problem of UAV(Unmanned Aerial Vehicle) formation with external disturbance is studied and analyzed. Firstly, the UAV formation cooperative control model with system disturbance is established. Secondly, the UAV cooperative formation controller is designed on the basis of the non-singular integral terminal sliding-mode surface and the directed graph topology. Finally, the Lyapunov stability theory shows that the guidance system state converges to the neighborhood near zero in finite time, and the effectiveness of the proposed formation cooperative control strategy is verified by digital simulation.