Fully distributed time-varying formation tracking control for multiple quadrotor vehicles via finite-time convergent extended state observer |
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Affiliation: | 1. School of Aeronautic Science and Engineering, Beihang University, Beijing 100191, China;2. School of Electrical and Electronic Engineering, Nanyang Technological University, Singapore 639798, Singapore |
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Abstract: | This paper investigates a time-varying anti-disturbance formation problem for a group of quadrotor aircrafts with time-varying uncertainties and a directed interaction topology. A novel Finite-Time Convergent Extended State Observer (FTCESO) based fully-distributed formation control scheme is proposed to enhance the disturbance rejection and the formation tracking performances for networked quadrotors. By adopting the hierarchical control strategy, the multi-quadrotor system is separated into two subsystems: the outer-loop cooperative subsystem and the inner-loop attitude subsystem. In the outer-loop subsystem, with the estimation of disturbing forces and uncertain dynamics from FTCESOs, an adaptive consensus theory based cooperative controller is exploited to ensure the multiple quadrotors form and maintain a time-varying pattern relying only on the positions of the neighboring aircrafts. In the inner-loop subsystem, the desired attitude generated by the cooperative control law is stably tracked under a FTCESO-based attitude controller in a finite time. Based on a detailed algorithm to specify the cooperative control protocol, the feasibility condition to achieve the time-varying anti-disturbance formation tracking is derived and the rigorous analysis of the whole closed-loop multi-quadrotor system is given. Some numerical examples are conducted to intuitively demonstrate the effectiveness and the improvements of the proposed control framework. |
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Keywords: | Directed interaction topology Distributed control Disturbance rejection Finite-time convergent extended state observer (FTCESO) Formation tracking control Multi-agent systems |
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