Abstract
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.
Highlights
INTRODUCTIONThe quadrotor control problem has received much interest from many researchers
In recent years, the quadrotor control problem has received much interest from many researchers
To improve control performance, this study focuses on the whole closed-loop stability control algorithm for quadrotor formation modeled with unknown bounded external disturbances and uncertainties
Summary
The quadrotor control problem has received much interest from many researchers. In [23], a formation control algorithm was proposed based on optimal control method, which aims to achieve the desired formation behaviors of multiple quadrotors in asymptotic stability with not finite time stability. To improve control performance, this study focuses on the whole closed-loop stability control algorithm for quadrotor formation modeled with unknown bounded external disturbances and uncertainties. For the characteristics of inner loop and outer loop of quaternion modeled, the different adaptive super twisting control algorithms are designed to improve the convergence rate and accuracy respectively. The main contributions of this paper are summarized as follows: 1) Based on the quaternion model, an super-twisting distributed formation control is designed, which ensures the stability of quadrotor formation under the condition of unknown upper bound of external disturbance.
Sign-in/Register to view highlights & summary Sign-in/Register to access full text options 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
