Event-triggering formation control is investigated for second-order multi-agent systems (SOMASs) with compound disturbances. A novel adaptive distributed robust event-triggering controller is developed based on the gain adaptive method and terminal sliding mode (TSM) method. Unlike the existing event-based control algorithm for SOMASs, the proposed algorithm can achieve practical finite-time stability, anti-disturbance, and independence from any global information simultaneously. Furthermore, an extended observer-based adaptive finite-time event-triggered controller is designed to improve the formation accuracy. The theoretical results are demonstrated by numerical simulations and experimental verification using three bebop2 quadrotor UAVs.


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    Titel :

    Adaptive Finite-Time Event-Triggered Formation Control for Quadrotor UAVs with Experimentation


    Weitere Titelangaben:

    Lect. Notes Electrical Eng.


    Beteiligte:
    Yan, Liang (Herausgeber:in) / Duan, Haibin (Herausgeber:in) / Yu, Xiang (Herausgeber:in) / Wang, Jianan (Autor:in) / Kuang, Qingbiao (Autor:in) / Wang, Dandan (Autor:in) / Wang, Chunyan (Autor:in) / Shan, Jiayuan (Autor:in)


    Erscheinungsdatum :

    2021-10-30


    Format / Umfang :

    11 pages





    Medientyp :

    Aufsatz/Kapitel (Buch)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch




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