Distributed formation control for multiple quadrotor based on multi-agent theory and disturbance observer
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.
- Distributed finite-time formation control for multiple quadrotors via local communications
- Formation control for multiple quadrotor aircraft via fixed-time consensus algorithm
- Disturbance observer-based backstepping formation control of multiple quadrotors with asymmetric output error constraints
- Robust formation tracking control for multiple quadrotors under aggressive maneuvers
- Robust formation control of UAVs based on nonlinear disturbance observer
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- Nonlinear systems.
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- Sliding mode control of a class of underactuated systems
- Distributed hunting problem of multi-quadrotor systems via bearing constraint method subject to time delays
- Disturbance observer-based backstepping formation control of multiple quadrotors with asymmetric output error constraints
- Robust formation tracking control for multiple quadrotors under aggressive maneuvers
- Formation control for multiple quadrotor aircraft via fixed-time consensus algorithm
- An improved adaptive fractional-order fast integral terminal sliding mode control for distributed quadrotor
- Robust formation control of UAVs based on nonlinear disturbance observer
- Distributed finite-time formation control for multiple quadrotors via local communications
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- Adaptive fractional-order nonsingular fast terminal sliding mode formation control of multiple quadrotor UAVs-based distributed estimator
- Extended state observer based finite-time fault-tolerant formation control for multi-UAVs
- Event-triggered fixed-time prescribed performance containment control for switched nonlinear multi-agent systems
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