Robust Formation Control for Multiple Quadrotors With Nonlinearities and Disturbances

被引：232
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：
美国国家科学基金会; 中国国家自然科学基金;
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
收藏
页码：1362 / 1371
页数：10
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