Adaptive Super-Twisting Distributed Formation Control of Multi-Quadrotor Under External Disturbance

In this paper, the adaptive super-twisting distributed formation control of multi-quadrotor in the presence of external disturbances and uncertainties is studied. First, the quadrotor formation system is separated into a position subsystem and an attitude subsystem which are represented by unit-quat...

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Autores principales: Cheng Zhang, Tianlong Chen, Wei Shang, Zhongzhong Zheng, Huizheng Yuan
Formato: article
Lenguaje:EN
Publicado: IEEE 2021
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Acceso en línea:https://doaj.org/article/8ab4d2c12f464f618192566fa7252df4
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Sumario:In this paper, the adaptive super-twisting distributed formation control of multi-quadrotor in the presence of external disturbances and uncertainties is studied. First, the quadrotor formation system is separated into a position subsystem and an attitude subsystem which are represented by unit-quaternions. And then a composite adaptive super-twisting control method is proposed for the position subsystem and attitude subsystem respectively. For the position subsystem, an adaptive multivariable super-twisting controller is designed such that the positions of formation converge to the desired formation configuration and generate the desired attitude. And the adaptive fast super-twisting controller is designed for the attitude subsystem to track the desired attitude in finite time. Based on Lyapunov-based stability analysis, finite time convergence stability of the whole closed-loop system is proved. Finally, a numerical simulation result is provided to illustrate the effectiveness of the proposed formation control scheme.