Xu, L.; Li, Y. Distributed Robust Formation Tracking Control for Quadrotor UAVs with Unknown Parameters and Uncertain Disturbances. Aerospace2023, 10, 845.
Xu, L.; Li, Y. Distributed Robust Formation Tracking Control for Quadrotor UAVs with Unknown Parameters and Uncertain Disturbances. Aerospace 2023, 10, 845.
Xu, L.; Li, Y. Distributed Robust Formation Tracking Control for Quadrotor UAVs with Unknown Parameters and Uncertain Disturbances. Aerospace2023, 10, 845.
Xu, L.; Li, Y. Distributed Robust Formation Tracking Control for Quadrotor UAVs with Unknown Parameters and Uncertain Disturbances. Aerospace 2023, 10, 845.
Abstract
In this paper, the distributed formation tracking control problem of quadrotor unmanned aerial vehicles (UAVs) is considered. Adaptive backstepping technology is used to design flight control schemes for quadrotor UAVs. For the position subsystem, a distributed robust formation tracking control scheme is developed to achieve formation flight of quadrotor UAVs and track the desired flight trajectory. For the attitude subsystem, an adaptive disturbance rejection control scheme is proposed to achieve attitude stabilization during UAV flight under uncertain disturbances. Compared with the existing results, the novelty of this paper is that the proposed formation control scheme does not require the use of the quadrotor model parameters. Finally, a quadrotor UAV swarm system is used to verify the effectiveness of the proposed control scheme.
Copyright:
This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.
