Distributed formation control for multiple quadrotor based on multi-agent theory and disturbance observer (Q2298739)
From MaRDI portal
scientific article
Language | Label | Description | Also known as |
---|---|---|---|
English | Distributed formation control for multiple quadrotor based on multi-agent theory and disturbance observer |
scientific article |
Statements
Distributed formation control for multiple quadrotor based on multi-agent theory and disturbance observer (English)
0 references
20 February 2020
0 references
Summary: This paper presents the disturbance observers-based distributed formation control for multiple quadrotor aircrafts with external disturbances and uncertain parameters using multi-agent theory and finite-time control method. Firstly, the finite-time disturbance observers are proposed to handle the external disturbances on the position-loop. Similarly, when there are both the uncertain parameters and external disturbances on the attitude-loop, the finite-time disturbance observers are designed to estimate the total lump disturbances. By skillfully using homogeneous system theory, Lyapunov theory, and multi-agent theory, the distributed formation control algorithms are developed. Finally, through simulations, the efficiency of the proposed method (including the convergence rate and disturbance rejection) is verified.
0 references
0 references
0 references
0 references