Table 6 The values of the disturbances.

From: Trajectory tracking and formation control of quadrotor UAVs based on modified super twisting sliding mode method

 

\(\:t<10\text{s}\)

\(\:10\text{s}\le\:t\le\:30\text{s}\)

\(\:t>30\text{s}\)

Leader \(\:{d}_{\phi\:},{d}_{\theta\:},{d}_{\psi\:},{d}_{x},{d}_{y},{d}_{z}\)

0

0.5

\(\:0.5+0.5\text{s}\text{i}\text{n}\left(2\pi\:t/10\right)\)

Follower1 \(\:{d}_{\phi\:},{d}_{\theta\:},{d}_{\psi\:},{d}_{x},{d}_{y},{d}_{z}\)

0

−1

\(\:-1-\text{s}\text{i}\text{n}\left(2\pi\:t/10\right)\)

Follower2\(\:{d}_{\phi\:},{d}_{\theta\:},{d}_{\psi\:},{d}_{x},{d}_{y},{d}_{z}\)

0

0.5

\(\:0.5+0.5\text{s}\text{i}\text{n}\left(2\pi\:t/5\right)\)

  1. The main parameters of the NSTSTSM controller (34) for the leader and follower, the finite time observer (21), and the formation flight position controller are given as follows:.
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