Abstract:

A nonlinear formation controller design combined with nonlinear dynamic inversion(NDI) theory and super twisting algorithm is proposed for the unmanned aerial vehicle(UAV) formation flight control system under external disturbance. The deviation based formation control system is established under the dynamics and kinematics models of formation UAVs, which converts the original formation control problem to the equivalent path tracking problem of one follower UAV; in order to overcome the system chattering phenomenon of the normal sliding mode control, and realize the tracking command with disturbance attenuation, the nonlinear dynamic inversion formation controller is designed based on the super twisting algorithm of secondorder sliding mode control. The simulation results on the formation flight control system consisting of three UAVs demonstrate that the system designed with the method has good stability and robustness.