基于事件触发的旋翼无人机群领导跟随一致性

本文针对多六旋翼无人机集群系统通信频律过高的问题，基于六旋翼无人机滑模控制的双环结构控制模型提出了一种基于事件触发的滑模控制方法。该模型由位置子系统和姿态子系统构成，其中位置子系统作为外环控制对象，姿态子系统则作为内环辅助控制对象。在位置子系统中，采用增加事件触发器的滑模控制器，通过引入滑模面和滑模变量的方式，实现对六旋翼无人机群的位置控制。本文通过Lyapunov稳定性定理对该控制策略下系统的稳定性进行了证明，并证明了不存在Zeno现象的情况。仿真实验结果表明，本文所提出的控制方案减少了多智能体通信对高频采样的依赖，可见该研究为六旋翼无人机在协同路径跟随方面的应用提供了有益的参考。

Leader-following Consensus of Multirotor Drone Warm via Event-triggered Control

The problem of high communication frequency in the multi-hexacopter unmanned aerial vehicle (UAV) swarm system is addressed in this paper. A sliding mode control method based on event-triggering is proposed, utilizing a dual-loop structure control model based on sliding mode control of hexacopter UAVs. The model is comprised of a position subsystem and an attitude subsystem, with the position subsystem serving as the outer loop control object and the attitude subsystem serving as the inner loop auxiliary control object. In the position subsystem, position control of the hexacopter UAV swarm is achieved using a sliding mode controller with event triggers, which introduces sliding mode surfaces and sliding mode variables. The stability of the system under this control strategy is proven by the Lyapunov stability theorem, and the absence of the Zeno phenomenon is also demonstrated. Simulation results illustrate that the proposed control scheme reduces the reliance on high-frequency sampling of multi-agent communication. This research provides a useful reference for the application of hexacopter UAVs in collaborative path following.