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- Title
Distributed Robust Formation Tracking Control for Quadrotor UAVs with Unknown Parameters and Uncertain Disturbances.
- Authors
Xu, Linxing; Li, Yang
- Abstract
In this paper, the distributed formation tracking control problem of quadrotor unmanned aerial vehicles is considered. Adaptive backstepping inherently accommodates model uncertainties and external disturbances, making it a robust choice for the dynamic and unpredictable environments in which unmanned aerial vehicles operate. This paper designs a formation flight control scheme for quadrotor unmanned aerial vehicles based on adaptive backstepping technology. The proposed control scheme is divided into two parts. For the position subsystem, a distributed robust formation tracking control scheme is developed to achieve formation flight of quadrotor unmanned aerial vehicles and track the desired flight trajectory. For the attitude subsystem, an adaptive disturbance rejection control scheme is proposed to achieve attitude stabilization during unmanned aerial vehicle flight under uncertain disturbances. Compared to existing results, the novelty of this paper lies in presenting a disturbance rejection flight control scheme for actual quadrotor unmanned aerial vehicle formations, without the need to know the model parameters of each unmanned aerial vehicle. Finally, a quadrotor unmanned aerial vehicle swarm system is used to verify the effectiveness of the proposed control scheme.
- Subjects
ARTIFICIAL satellite attitude control systems; FORMATION flying; DRONE aircraft; ARTIFICIAL satellite tracking
- Publication
Aerospace (MDPI Publishing), 2023, Vol 10, Issue 10, p845
- ISSN
2226-4310
- Publication type
Article
- DOI
10.3390/aerospace10100845