Leader-Follower Formation Control of Multi-quadrotor Systems Based On the Dynamic Surface Approach

被引：1

作者：

Dun, Ao ^{[1
]}

Wang, Rui ^{[1
]}

Xu, Qianjiao ^{[1
]}

机构：

[1] Beijing Univ Technol, Fac Informat Technol, Beijing, Peoples R China

来源：

2020 CHINESE AUTOMATION CONGRESS (CAC 2020) | 2020年

基金：

中国国家自然科学基金;

关键词：

Quadrotor; Leader-Follower; Dynamic surface control; Formation control; DESIGN;

D O I：

10.1109/CAC51589.2020.9326688

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 paper is concerned with the leader-follower formation control of multi-quadrotor based on the dynamic surface control Approach. The virtual quadrotor is designed to convert the formation control problem into the trajectory tracking problem. By employing dynamic surface control method, the issue of "explosion of differentiation" caused by backstepping is avoided. Based on Lyapunov function theory, all signals of the closed-loop system are uniformly ultimately bounded. Simulation results show the effectiveness of the proposed control strategy.

引用

页码：572 / 577

页数：6

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