In this paper, a formation tracking control strategy based on a leader–follower structure is investigated under position deviations and wind disturbances for an air–ground system. A backstepping controller is designed to achieve the expected trajectory-tracking performance for the leader which is a car-like vehicle. A robust nonsingular integral terminal sliding mode formation controller based on leader–follower formation errors is presented to provide desired positions under the influence of position deviation for the follower which is a quadrotor. A backstepping-based adaptive recursive sliding mode position controller is proposed for the follower to ensure tracking accuracy under wind disturbances. Comparison experiments with existing studies show superior performances and effectiveness of the proposed control method for the air–ground system.

中文翻译：

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位置偏差和风扰动下空地系统编队跟踪控制

本文研究了空地系统在位置偏差和风扰动情况下基于引导-跟随结构的编队跟踪控制策略。反步控制器旨在实现领先者（类似于汽车的车辆）的预期轨迹跟踪性能。提出了一种基于引导-从机编队误差的鲁棒非奇异积分终端滑模编队控制器，以在位置偏差的影响下为四旋翼飞行器的从机提供期望的位置。为从动件提出一种基于反步的自适应递归滑模位置控制器，以保证风扰动下的跟踪精度。与现有研究的比较实验表明，所提出的空地系统控制方法具有优越的性能和有效性。