Formation trajectory tracking method and device based on sliding mode control under double-master alternate pilotage

CN117369461BActive Publication Date: 2026-10-16HARBIN ENG UNIV
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Patent Information

Application Number
CN202311427111.6
Authority / Receiving Office
CN · China
Patent Type
Patents(China)
Current Assignee / Owner
Filing Date
2023-10-31
Publication Date
2026-10-16
Estimated Expiration
2043-10-31

AI Technical Summary

Technical Problem

目前采用集中式方法，是通过一个中央控制器对整个编队进行统计计算控制，该方法虽然成本低，易于实现，但整体计算量较大，并且当编队中一个环节出现延迟或故障，编队的整体性能会下降

Benefits of technology

[0012] This invention proposes a distributed control method based on the pilot-follower approach under dual-master alternating navigation. The distributed method eliminates the concept of a "control center," with each node operating independently and achieving control solely through the exchange of state information. This invention offers superior fault tolerance and scalability, effectively addressing the shortcomings of single-master navigation systems, such as weak observability and high maneuverability requirements for the master pilot. Furthermore, the sliding mode control method, due to its non-fixed system structure, boasts advantages such as rapid response, simple design, and strong robustness to external parameters and disturbances.

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Abstract

The application discloses a kind of method and device for formation trajectory tracking based on sliding mode control under double-main alternation pilot, comprising: step S1, according to virtual pilot following mode, obtain distributed model predictive controller;Step S2, according to distributed model predictive controller, obtain distributed state observer;Step S3, error model analysis is carried out to distributed state observer, and control parameter is determined;Step S4, based on control parameter design sliding film controller, realizes formation trajectory tracking.The technical scheme of the application can improve the overall performance of formation.
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