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.
Distributed Formation Control of Multi-QUAV Based on Leader-Follower
Lect. Notes Electrical Eng.
2021-10-30
11 pages
Article/Chapter (Book)
Electronic Resource
English
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