Robust Formation Trajectory Tracking Control for Multiple Quadrotors With Communication Delays

被引：29
|
作者：
Liu, Hao [1 ]
Ma, Teng [1 ]
Lewis, Frank L. [2 ]
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
来源：
IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY | 2020年 / 28卷 / 06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：
Delays; Vehicle dynamics; Attitude control; Uncertainty; Unmanned aerial vehicles; Trajectory; Formation control; micro quadrotors; nonlinear system; robust control; uncertain system; CONSENSUS CONTROL; SYNCHRONIZATION; VEHICLES; FEEDBACK;
D O I：
10.1109/TCST.2019.2942277
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 brief presents a robust formation control method for a team of quadrotors with communication delays. The dynamics of each quadrotor is subject to nonlinearities, parametric perturbations, and external disturbances. A distributed formation controller is developed for the quadrotor team, which consists of a position controller to achieve the desired formation trajectories and patterns, and an attitude controller to regulate the attitude angles for each quadrotor. It is proven that the tracking errors can converge into a neighborhood of the origin bounded by a given constant in a finite time. Experimental results on multiple microquadrotors are provided to verify the effectiveness of the proposed control method.
引用
收藏
页码：2633 / 2640
页数：8
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