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- Title
Distributed cooperative control for multiple quadrotor systems via dynamic surface control.
- Authors
Wang, Yinqiu; Wu, Qinghe; Wang, Yao
- Abstract
This paper addresses the cooperative control problems of multiple quadrotor systems under fixed directed communication topologies. Dynamic surface control (DSC) is utilized to design nonlinear consensus controllers to make multiple quadrotors construct and keep a formation during flying. The control scheme is distributed so that each quadrotor updates the values of its information states based on the information states of its neighbors and its own states. Moreover, the leader-follower case is also discussed. In this case, distributed continuous schemes are also proposed with distributed sliding-mode observers, whose function is to estimate two linear combinations of the leader's velocity and acceleration accurately in finite time. Finally, the effectiveness of the theoretical results is demonstrated via two examples.
- Subjects
QUADROTOR helicopters; NONLINEAR control theory; TRAJECTORY measurements; FLIGHT; PHYSIOLOGICAL effects of acceleration; TRACKING &; trailing; SAFETY
- Publication
Nonlinear Dynamics, 2014, Vol 75, Issue 3, p513
- ISSN
0924-090X
- Publication type
Article
- DOI
10.1007/s11071-013-1081-7