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
Materias:	Formation control finite time convergence quadrotor adaptive super-twisting control disturbance Electrical engineering. Electronics. Nuclear engineering TK1-9971
Acceso en línea:	https://doaj.org/article/8ab4d2c12f464f618192566fa7252df4
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spelling	oai:doaj.org-article:8ab4d2c12f464f618192566fa7252df42021-11-18T00:07:26ZAdaptive Super-Twisting Distributed Formation Control of Multi-Quadrotor Under External Disturbance2169-353610.1109/ACCESS.2021.3124334https://doaj.org/article/8ab4d2c12f464f618192566fa7252df42021-01-01T00:00:00Zhttps://ieeexplore.ieee.org/document/9594807/https://doaj.org/toc/2169-3536In 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.Cheng ZhangTianlong ChenWei ShangZhongzhong ZhengHuizheng YuanIEEEarticleFormation controlfinite time convergencequadrotoradaptive super-twisting controldisturbanceElectrical engineering. Electronics. Nuclear engineeringTK1-9971ENIEEE Access, Vol 9, Pp 148104-148117 (2021)
institution	DOAJ
collection	DOAJ
language	EN
topic	Formation control finite time convergence quadrotor adaptive super-twisting control disturbance Electrical engineering. Electronics. Nuclear engineering TK1-9971
spellingShingle	Formation control finite time convergence quadrotor adaptive super-twisting control disturbance Electrical engineering. Electronics. Nuclear engineering TK1-9971 Cheng Zhang Tianlong Chen Wei Shang Zhongzhong Zheng Huizheng Yuan Adaptive Super-Twisting Distributed Formation Control of Multi-Quadrotor Under External Disturbance
description	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.
format	article
author	Cheng Zhang Tianlong Chen Wei Shang Zhongzhong Zheng Huizheng Yuan
author_facet	Cheng Zhang Tianlong Chen Wei Shang Zhongzhong Zheng Huizheng Yuan
author_sort	Cheng Zhang
title	Adaptive Super-Twisting Distributed Formation Control of Multi-Quadrotor Under External Disturbance
title_short	Adaptive Super-Twisting Distributed Formation Control of Multi-Quadrotor Under External Disturbance
title_full	Adaptive Super-Twisting Distributed Formation Control of Multi-Quadrotor Under External Disturbance
title_fullStr	Adaptive Super-Twisting Distributed Formation Control of Multi-Quadrotor Under External Disturbance
title_full_unstemmed	Adaptive Super-Twisting Distributed Formation Control of Multi-Quadrotor Under External Disturbance
title_sort	adaptive super-twisting distributed formation control of multi-quadrotor under external disturbance
publisher	IEEE
publishDate	2021
url	https://doaj.org/article/8ab4d2c12f464f618192566fa7252df4
work_keys_str_mv	AT chengzhang adaptivesupertwistingdistributedformationcontrolofmultiquadrotorunderexternaldisturbance AT tianlongchen adaptivesupertwistingdistributedformationcontrolofmultiquadrotorunderexternaldisturbance AT weishang adaptivesupertwistingdistributedformationcontrolofmultiquadrotorunderexternaldisturbance AT zhongzhongzheng adaptivesupertwistingdistributedformationcontrolofmultiquadrotorunderexternaldisturbance AT huizhengyuan adaptivesupertwistingdistributedformationcontrolofmultiquadrotorunderexternaldisturbance
_version_	1718425236326580224

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

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