Abstract
This article investigates the trajectory tracking problem of quadrotor formation with collision avoiding. The safety distributed control strategy is introduced for quaternion-based multiple quadrotors formation to avoid collision. Then, based on super-twisting and adaptive control method, a multiple adaptive finite time super-twisting control method (MAFTSTC) is proposed, which rarely relies on the information of the formation model. The purpose of the robust controller designed in the position loop and the attitude loop is to ensure that quadrotor formation tracks the desired trajectory and maintains formation configuration in finite time. The closed-loop system stability of the novel control method is verified through Lyapunov theory. Finally, compared with traditional finite time convergence (FTC) method and non-robustness control (NRC) method, the simulation results illustrate the effectiveness of the proposed control method.
Highlights
T He cooperative missions of quadrotors, such as rescue, tracking, positioning and observation, have attracted interests of many researchers
The simulations are demonstrated with MAFTSTC, finite time convergence (FTC) and non-robustness control (NRC) control methods
In this paper, the multi-quadrotor formation control was designed subject to satisfy robustness and avoid collisions
Summary
T He cooperative missions of quadrotors, such as rescue, tracking, positioning and observation, have attracted interests of many researchers. The existing of artificial potential field function is a part of control method may impair the control performance, how to guarantee the stability of quadrotor formation is a challenging problem [11], [33]. [34] chooses an artificial potential field function and designs a position formation control algorithm so that all quadrotors can converge safely in the region along the desired trajectory, the stability of formation is proved separated in attitude system without the position system. On the basis of the existing results and motivated by the aforementioned analysis, in this paper, a novel adaptive formation tracking control of multiple quadrotors with obstacle avoidance is presented.
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