摘要：AbstractThis paper presents a trajectory tracking method for the formation flight of drones, which based on the synchronization of desired references in trajectory by means of complex networks in discrete-time. The pinning sliding modes control is used to track the desired trajectory controlling only the trajectory of the leader drone, and the coupling strengths are updated online during the process to achieve a smooth transition towards synchronization. The whole formation is realized by means of distancing and orientation of the drones with respect to the leader drone. The results are illustrated via simulations where each node corresponds with a quadrotor modelled by means of a high-order recurrent neural network locally controlled, whose goal is achieving that the whole drone network track an attractor chaotic type Rossler.
关键词：KeywordsFormation flightcomplex networks synchronizationQuadrotor neural modelUAVsdiscrete sliding mode control
