Aiming at the formation tracking problem of multiple quadrotor unmanned aerial vehicle (QUAV) with the external disturbance, this paper proposes a disturbance-observer-based distributed formation control strategy. Based on the structural characteristics of the system’s strict feedback, the QUAV dynamic model has an attitude subsystem and a position subsystem. Based on the graph theory and backstepping method, a distributed formation tracking controller is designed to form and maintain formations. The external disturbances are estimated by disturbance observer, and a filter is used to estimate the virtual control input derivative of attitude subsystem. Finally, the stability analysis shows that the closed-loop control system is globally bounded and stable. The simulation results prove the effectiveness of the distributed formation controller proposed.


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    Title :

    Distributed Formation Control of Multi-QUAV Based on Leader-Follower


    Additional title:

    Lect. Notes Electrical Eng.


    Contributors:
    Yan, Liang (editor) / Duan, Haibin (editor) / Yu, Xiang (editor) / Gao, Yali (author) / Wang, Fang (author) / Ma, Zhigang (author)


    Publication date :

    2021-10-30


    Size :

    11 pages





    Type of media :

    Article/Chapter (Book)


    Type of material :

    Electronic Resource


    Language :

    English




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