Abstract
Distributed consensus formation tracking problem of slow convergence and low accuracy for multiple quad rotors are solved in this paper. Continuous nonsingular terminal sliding model algorithm (CNTSMA) under Inner-Outer loop control structure is considered to deal with the control problem of nonlinear, strong coupling and underactuated characteristic of a quad rotor. For better convergence and higher tracking accuracy, an adaptive algorithm (denoted by ACNTSMA) further focused on coupling of x and y directions, with sliding model observer (SMO) to compensate system disturbances and uncertainties is proposed. Furthermore, to solve the consensus formation tracking problem, a consensus control protocol under a full-connected topology based on ACNTSMA is proposed, including formation pattern consensus controller and formation distance consensus controller. Stability theory and simulation results prove the proposed control algorithm is able to accurately achieve the first-order (position and velocity) consensus for multiple quad rotors' formation tracking. Besides, stability analysis of the proposed consensus control protocol illustrates that all sliding modes with finite-time stability applicable to second-order integral models are supposed to be established. And the proposed controller also has better convergence and faster response speed with no chattering for trajectory tracking.
Highlights
In recent years, the mission of multi-unmanned aerial vehicle (UAV) formation has become widely used in military and civilian fields [1]
In order to apply consensus theory to formation tracking for quad rotors, it demands us to consider the communication interaction of different nodes, and a series of issues, such as the structure of formation pattern, the control structure of a quadrotor itself, etc, which produce a great challenge on consensus formation tracking for multiple quad rotors
In order to illustrate the effectiveness of the proposed Adaptive CNTSMA (ACNTSMA), Qball-X4 parameters are utilized for this simulation part
Summary
The mission of multi-UAV formation has become widely used in military and civilian fields [1]. Quadrotor unmanned aerial vehicle (UAV) has capabilities of vertical take-off and landing (VTOL) and aggressive manoeuvrability compared with a fixed-wing UAV. These advantages motivate the formation flight of quadrotor UAVs to be more flexible and versatile in various fields, like target tracking, disaster monitoring, wilderness search and rescue, etc. Consensus formation tracking for Multiple UAVs has become a research hotspot in recent years. Researchers [2], [9]–[11] contributed on consensus formation tracking by modeling, analyzing and controller designing.
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