Distributed Adaptive Dynamic Programming Formation Control of Multiple Quadrotor-UAV System

被引：0
|
作者：
Cai, Siyuan [1 ]
Dou, Liqian [1 ]
Su, Xiaotong [1 ]
机构：
[1] Tianjin Univ, Sch Elect Engn & Automat, Tianjin 300072, Peoples R China
来源：
2021 PROCEEDINGS OF THE 40TH CHINESE CONTROL CONFERENCE (CCC) | 2021年
关键词：
Adaptive dynamic programming(ADP); Quadrotor UAV; Formation control; Optimal control;
D O I：
暂无
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, we aim to tackle the formation tracking control for a Quadrotor UAV system using the adaptive dynamic programming. The Quadrotor UAV system is composed by position outer-loop and attitude inner-loop. The main contribution is that an adaptive dynamic programming based robust tracking control scheme is established for the outer-loop position subsystem with external disturbances and model uncertainty. Then the tracking signal of the attitude subsystem is obtained by attitude resolution, and a sliding mode controller is designed to get fast tracking. The robust tracking control performance is guaranteed theoretically via Lyapunov approach and also verified through simulation illustration.
引用
收藏
页码：4984 / 4989
页数：6
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