Abstract
In this brief, we develop a suboptimal $H_{\infty }$ controller for a leader-follower formation problem of quadrotors with the consideration of external disturbances and model parameter uncertainties. We also compare the control performances between this $H_{\infty }$ controller and an integral backstepping (IBS) controller for this problem. The resultant state feedback controller establishes the asymptotically stability of the closed-loop nonlinear system. Simulation results show a good performance for both controllers in normal circumstance, and the $H_{\infty }$ controller performs much better than the IBS controller under the disturbances. Experimental results of using $H_{\infty }$ controller show its stability and robustness against the disturbances.
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