Robust Formation Tracking Control for Multiple Quadrotors Subject to Switching Topologies

被引：51
作者：
Liu, Hao [1 ]
Wang, Yanhu [1 ]
Lewis, Frank L. [2 ,3 ]
Valavanis, Kimon P. [4 ]
机构：
[1] Beihang Univ, Sch Astronaut, Beijing 100191, Peoples R China
[2] Univ Texas Arlington, Ft Worth, TX 76118 USA
[3] Northeastern Univ, State Key Lab Synthet Automat Proc Ind, Shenyang 110004, Peoples R China
[4] Univ Denver, Dept Elect & Comp Engn, Denver, CO 80208 USA
来源：
IEEE TRANSACTIONS ON CONTROL OF NETWORK SYSTEMS | 2020年 / 7卷 / 03期
基金：
中国国家自然科学基金;
关键词：
Formation control; multiagent system; quadrotor; robust control; switching topology; MULTIAGENT SYSTEMS; OBSTACLE AVOIDANCE; UAV; CONSENSUS;
D O I：
10.1109/TCNS.2020.2976271
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This article focuses on formation control of multiagent systems composed of a team of quadrotors subject to switching topologies. The quadrotor model is underactuated and includes nonlinear dynamics, parameter uncertainties, and external disturbance. A robust control approach is proposed that consists of a position and an attitude controller, both consisting of two subsystems: the nominal controller that is designed to achieve desired tracking for the nominal system, and the disturbance estimating controller that restrains the influence of uncertainties on the real system. Theoretical foundations, detailed simulation studies, and experimental results validate the effectiveness of the proposed methodology.
引用
收藏
页码：1319 / 1329
页数：11
相关论文
共 25 条
[1]   Ultra Reliable UAV Communication Using Altitude and Cooperation Diversity [J].
Azari, Mohammad Mahdi ;
Rosas, Fernando ;
Chen, Kwang-Cheng ;
Pollin, Sofie .
IEEE TRANSACTIONS ON COMMUNICATIONS, 2018, 66 (01) :330-344
[2]   Time-Varying Formation Tracking for Second-Order Multi-Agent Systems Subjected to Switching Topologies With Application to Quadrotor Formation Flying [J].
Dong, Xiwang ;
Zhou, Yan ;
Ren, Zhang ;
Zhong, Yisheng .
IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS, 2017, 64 (06) :5014-5024
[3]   Distributed Formation Control of Multiple Quadrotor Aircraft Based on Nonsmooth Consensus Algorithms [J].
Du, Haibo ;
Zhu, Wenwu ;
Wen, Guanghui ;
Duan, Zhisheng ;
Lu, Jinhu .
IEEE TRANSACTIONS ON CYBERNETICS, 2019, 49 (01) :342-353
[4]   Integrated Relative Localization and Leader-Follower Formation Control [J].
Han, Zhimin ;
Guo, Kexin ;
Xie, Lihua ;
Lin, Zhiyun .
IEEE TRANSACTIONS ON AUTOMATIC CONTROL, 2019, 64 (01) :20-34
[5]   Finite-Time Connectivity-Preserving Consensus for Second-Order Nonlinear Multiagent Systems [J].
Hong, Huifen ;
Yu, Wenwu ;
Fu, Junjie ;
Yu, Xinghuo .
IEEE TRANSACTIONS ON CONTROL OF NETWORK SYSTEMS, 2019, 6 (01) :236-248
[6]   Robust Control of Four-Rotor Unmanned Aerial Vehicle With Disturbance Uncertainty [J].
Islam, Shafiqul ;
Liu, Peter X. ;
El Saddik, Abdulmotaleb .
IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS, 2015, 62 (03) :1563-1571
[7]   Robust Team Formation Control for Quadrotors [J].
Jasim, Wesam ;
Gu, Dongbing .
IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY, 2018, 26 (04) :1516-1523
[8]   Mobile Edge Computing via a UAV-Mounted Cloudlet: Optimization of Bit Allocation and Path Planning [J].
Jeong, Seongah ;
Simeone, Osvaldo ;
Kang, Joonhyuk .
IEEE TRANSACTIONS ON VEHICULAR TECHNOLOGY, 2018, 67 (03) :2049-2063
[9]   Formation Control of Heterogeneous Discrete-Time Nonlinear Multi-Agent Systems With Uncertainties [J].
Li, Shaobao ;
Zhang, Jie ;
Li, Xiaolei ;
Wang, Feng ;
Luo, Xiaoyuan ;
Guan, Xinping .
IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS, 2017, 64 (06) :4730-4740
[10]   Controllability of a leader-follower dynamic network with switching topology [J].
Liu, Bo ;
Chu, Tianguang ;
Wang, Long ;
Xie, Guangming .
IEEE TRANSACTIONS ON AUTOMATIC CONTROL, 2008, 53 (04) :1009-1013
123