Adaptive Distributed Attitude Consensus of a Heterogeneous Multiagent Quadrotor System: Singular Perturbation Approach

Abstract

Singular perturbations easily cause the problem of high gain control (HGC) of a multi-agent quadrotor system (MAQS), that easily excite hazardous high frequency oscillations in the system states. Without HGC, this work studies the distributed fixed-time attitude consensus control problem of multiple heterogeneous quadrotors in presence of <italic xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">unknown Lipschitz input disturbances and directed topology</i> . First, the second order sliding mode, composed of consensus errors of “slow” Euler angles and “fast” angular velocities, is designed to be two-time-scale (TTS). Then, an adaptive super twisting controller is designed to produce an integrated slow-fast control structure, and adjust controller gains in different time scales with respect to the disturbance gradients. On this basis, an <inline-formula xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink"><tex-math notation="LaTeX">$\epsilon$</tex-math></inline-formula> -dependent Lyapunov framework is built for the MAQS on multiple time scales, which provide a rigorous theoretical basis for the fast and robust attitude consensus, and estimate the reaching time subject to singular perturbations. Simulation results on a heterogeneous MAQS consisting of four agents are provided to verify the effectiveness and efficiency of the proposed controller.