Adaptive Active Disturbance Rejection Control for Rendezvous of a Swarm of Drones

Abstract

This paper addresses the time-varying rendezvous problem of a swarm of drones with the leader-follower consensus hierarchy. Each drone in the swarm is under the influence of external disturbances in the form of wind gusts. To control the swarm of perturbed drones, this paper proposes a fully distributed adaptive leader-following time-varying disturbance rejection pinning control for the rendezvous of drones using the framework of the extended state observer that depends on the state estimates of the neighboring agents rather than the actual states. The communication topology within the swarm is modelled using algebraic graph theory. Unlike most of the literature in which the leader agent act as a virtual reference generator, an active leader agent with non-zero control input is considered. The states of the leader drone are only available to a subset of the graph. The communication topology between leader-follower is directed while that between follower-follower is undirected. Based on the relative output information between the neighboring drones, the extended state observer estimates the local states and disturbances of each drone and the adaptive control actively compensates for the external disturbances simultaneously. Finally, it is shown analytically as well as in simulations that the time-varying rendezvous can be achieved by the proposed algorithm effectively.