Constrained formation problems, for quadrotors and other systems, have been examined in various works in the past decade. Nevertheless, most works only consider constant or time-varying constraint functions, to be best of our knowledge. In this work, we examine path-dependent constraint requirements during formation tracking operations by a team of quadrotors, where the constraints are functions on path parameters. Universal barrier functions are used to deal with path-dependent constraint requirements, including constraints on distances with desired paths and inter-vehicle distances. Furthermore, unknown quadrotor’s mass, inertia, and disturbances are addressed using an adaptive robust formation algorithm. The newly proposed path-dependent constrained formation architecture can ensure formation tracking errors converge exponentially to small neighborhoods near the equilibrium, with all path-dependent constraint requirements met. At the end, a simulation study further illustrates the proposed scheme and demonstrates its efficacy.


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    Title :

    Path-Dependent Constrained Formation for a Quadrotor Team


    Contributors:
    Hu, Zhongjun (author) / Jin, Xu (author)


    Publication date :

    2025-01-01


    Size :

    14167761 byte




    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    English




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