A UAV formation control algorithm based on nonlinear singular homogeneity sliding mode

Aiming at the formation control problem of multiple aircraft, a simplified three-channel unified second-order model is proposed, and a sliding mode control method using nonlinear odd - odd-homogeneous terms is applied to the flight control of UAV formations. The sliding mode surface of this method is composed of odd-order terms of the error and homogeneous terms of the error derivative. Meanwhile, an adaptive method is employed to handle model uncertainties. On one hand, this simplifies the design process and the stability proof. On the other hand, it enhances the robustness and anti-interference ability of the entire UAV formation control. Finally, the total Lyapunov function method is selected, and the stability of the whole system is proven through the Lyapunov stability theory. The final simulation results also show that this method has excellent rapidity and signal smoothness, thus having high engineering application value.