Abstract
This paper mainly studies the formation control problem of multiple quadrotor aircraft via fixed-time control theory. First, based on the bilimit homogeneous theory and the framework of multiagent theory, for multiaircraft, a fixed-time formation control strategy is proposed. Considering the external disturbance existing on the attitude loop of the aircraft, the corresponding fixed-time disturbance observer is designed with the observer technology. Then, a fixed-time attitude controller is designed based on the accurate observation and fast compensation from the disturbance observer. Finally, some simulations are performed to verify the effectiveness of the proposed theoretical method.
Highlights
In the last few years, the quadrotor aircraft has received extensive attention and application
Different from the fixedwing aircraft, there are some clear advantages for the quadrotor aircraft, such as simple structures, flexible operation, and vertical takeoff and landing [1]
Since the quadrotor system is an underactuated system with strong coupling, nonlinearity, etc., it is difficult to design a controller for a single aircraft [4, 5], not to mention further coordinating the control of multiple aircraft on the basis of controlling one aircraft, which is even more challenging
Summary
In the last few years, the quadrotor aircraft has received extensive attention and application. Wu et al [24] considered the synchronization problem for a class of second-order master-slave nonlinear systems based on the fixed-time control theory and output feedback control method. Compared to the finite-time control method in [28], the fixed-time control has the advantage on the convergent time which is independent of the initial system states Motivated by this consideration, this paper will study the formation control problem by using the fixed-time consensus algorithm. E main contribution of this paper is to realize the formation control of multiple aircraft with external disturbances in a fixed time. Compared with the existing formation control algorithms, the main contribution of this paper is to propose a new fixed-time formation control algorithm in the presence of external disturbances, which can achieve attitude formation in a prescribed convergent time without depending on initial conditions. To the best of the authors’ knowledge, the presented results in this paper are novel in the literature
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