Abstract
In this paper we address a decentralized neighbor-based formation tracking control of multiple quadrotors with leader–follower structure. Different from most of the existing work, the formation tracking controller is given in one loop without distinguishing the motion control and attitude control by means of the theory of flatness. In order to achieve an aggressive formation tracking, the high-order states of the neighbors motion are estimated by using a proposed extended finite-time observer for each quadrotor. Then the estimated motion states are used as feedforwards in the formation controller design. Simulation and experimental results show that the proposed formation controller improves the formation performance, i.e., the formation pattern of the quadrotors is better maintained than that using the formation controller without high-order feedforwards, when tracking an aggressive reference formation trajectory.
Highlights
The cooperative control of multi-quadrotor systems has progressively attracted attention of researchers in both civil and military areas [1]
An example of the formation tracking task of four quadrotors is shown in Figure 1, where the solid red circle represents the reference formation trajectory (RFT) at time ta
We are able to show that our proposed formation controller makes the multi-quadrotor system performing a high bandwidth, such that the aggressive formation is achieved
Summary
The cooperative control of multi-quadrotor systems has progressively attracted attention of researchers in both civil and military areas [1]. In the decentralized formation tracking control of quadrotors, each quadrotor (including the leader) has to behave according to the state of neighbors, which are in general not able or difficult to get the full information of these states. For the formation of quadrotors, the idea in this paper is to propose a nonlinear formation controller, in order to use these existing results. We aimed at proposing an aggressive control framework for a class of systems with high-order dynamics (in special, quadrotor). The formation controller is decentralized, since the quadrotors move based on the measurement to their neighbors Sci. 2021, 11, 792 λmax(·) and λmin(·) represent the maximum and minimum eigenvalue of matrix inside the parenthesis, respectively
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