Technical Paper
Path Tracking Control of Unmanned Vehicle Based on Full-order Sliding Mode
2024-04-09
2024-01-1993
In recent decades, unmanned vehicles have been widely received attention in academia and industry. Conventional unmanned vehicles use centralized control, resulting the problems of high coupling between individual units and low fault tolerance. In this paper, the multi-agent control theory is utilized to deal with the problem of unmanned vehicle formation. Each unmanned vehicle is treated as an agent and the information interaction between the unmanned vehicles is achieved through communication devices or sensors. The application of multi-agent control theory improves the flexibility and reliability of the unmanned vehicle system. The leader-follower model is used to transform the multi-unmanned vehicle formation problem into a single unmanned position control problem. The unmanned vehicle as a follower needs to track the path of the unmanned vehicle as the leader.