Robust Formation Control for Multiple Quadrotors With Nonlinearities and Disturbances

被引：229

作者：

Liu, Hao ^{[1
,2
]}

Ma, Teng ^{[1
]}

Lewis, Frank L. ^{[2
,3
]}

Wan, Yan ^{[2
]}

机构：

[1] Beihang Univ, Sch Astronaut, Beijing 100191, Peoples R China

[2] Univ Texas Arlington, Res Inst, Ft Worth, TX 76118 USA

[3] Northeastern Univ, State Key Lab Synthet Automat Proc Ind, Shenyang 110004, Peoples R China

来源：

IEEE TRANSACTIONS ON CYBERNETICS | 2020年 / 50卷 / 04期

基金：

中国国家自然科学基金; 美国国家科学基金会;

关键词：

Vehicle dynamics; Nonlinear dynamical systems; Multi-agent systems; Stability analysis; Dynamics; Attitude control; Control systems; Formation control; multiagent system; nonlinear system; quadrotors; robust control; TIME FORMATION CONTROL; MULTIAGENT NETWORKS; SYNCHRONIZATION; VEHICLES; FEEDBACK; CONSENSUS; UAVS;

D O I：

10.1109/TCYB.2018.2875559

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

In this paper, the robust formation control problem is investigated for a group of quadrotors. Each quadrotor dynamics exhibits the features of underactuation, high nonlinearities and couplings, and disturbances in both the translational and rotational motions. A distributed robust controller is developed, which consists of a position controller to govern the translational motion for the desired formation and an attitude controller to control the rotational motion of each quadrotor. Theoretical analysis and simulation studies of a formation of multiple uncertain quadrotors are presented to validate the effectiveness of the proposed formation control scheme.

引用

页码：1362 / 1371

页数：10

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