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.
Adaptive Finite-Time Event-Triggered Formation Control for Quadrotor UAVs with Experimentation
Lect. Notes Electrical Eng.
2021-10-30
11 pages
Aufsatz/Kapitel (Buch)
Elektronische Ressource
Englisch
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