Robust Formation Control for Multiple Quadrotors Subject to Nonlinear Dynamics and Disturbances

Hao Liu; Xiwang Dong; Frank L. Lewis; Yan Wan; Kimon P. Valavanis

doi:10.1109/ICCA.2018.8444295

Robust Formation Control for Multiple Quadrotors Subject to Nonlinear Dynamics and Disturbances

Hao Liu
, Xiwang Dong
, Frank L. Lewis
, Yan Wan
, Kimon P. Valavanis

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

5 Scopus citations

Abstract

In this paper, the robust formation control problem is dealt with for multiple unmnanned quadrotors, whose dynamics is subject to underactuation, nonlinearities, and external disturbances. A distributed robust controller is developed, which includes a position controller and an attitude controller. Simulation results of four quadrotors are given to show the effectiveness of the designed formation control protocol.

Original language	English
Title of host publication	2018 IEEE 14th International Conference on Control and Automation, ICCA 2018
Publisher	IEEE Computer Society
Pages	58-62
Number of pages	5
ISBN (Print)	9781538660898
DOIs	https://doi.org/10.1109/ICCA.2018.8444295
State	Published - 21 Aug 2018
Event	14th IEEE International Conference on Control and Automation, ICCA 2018 - Anchorage, United States Duration: 12 Jun 2018 → 15 Jun 2018

Publication series

Name	IEEE International Conference on Control and Automation, ICCA
Volume	2018-June
ISSN (Print)	1948-3449
ISSN (Electronic)	1948-3457

Conference

Conference	14th IEEE International Conference on Control and Automation, ICCA 2018
Country/Territory	United States
City	Anchorage
Period	12/06/18 → 15/06/18

Access to Document

10.1109/ICCA.2018.8444295

Cite this

Liu, H., Dong, X., Lewis, F. L., Wan, Y., & Valavanis, K. P. (2018). Robust Formation Control for Multiple Quadrotors Subject to Nonlinear Dynamics and Disturbances. In 2018 IEEE 14th International Conference on Control and Automation, ICCA 2018 (pp. 58-62). Article 8444295 (IEEE International Conference on Control and Automation, ICCA; Vol. 2018-June). IEEE Computer Society. https://doi.org/10.1109/ICCA.2018.8444295

@inproceedings{0f91fce180d246ddbea092c10d0e1568,

title = "Robust Formation Control for Multiple Quadrotors Subject to Nonlinear Dynamics and Disturbances",

abstract = "In this paper, the robust formation control problem is dealt with for multiple unmnanned quadrotors, whose dynamics is subject to underactuation, nonlinearities, and external disturbances. A distributed robust controller is developed, which includes a position controller and an attitude controller. Simulation results of four quadrotors are given to show the effectiveness of the designed formation control protocol.",

author = "Hao Liu and Xiwang Dong and Lewis, \{Frank L.\} and Yan Wan and Valavanis, \{Kimon P.\}",

note = "Publisher Copyright: {\textcopyright} 2018 IEEE.; 14th IEEE International Conference on Control and Automation, ICCA 2018 ; Conference date: 12-06-2018 Through 15-06-2018",

year = "2018",

month = aug,

day = "21",

doi = "10.1109/ICCA.2018.8444295",

language = "英语",

isbn = "9781538660898",

series = "IEEE International Conference on Control and Automation, ICCA",

publisher = "IEEE Computer Society",

pages = "58--62",

booktitle = "2018 IEEE 14th International Conference on Control and Automation, ICCA 2018",

address = "美国",

}

Liu, H , Dong, X, Lewis, FL, Wan, Y & Valavanis, KP 2018, Robust Formation Control for Multiple Quadrotors Subject to Nonlinear Dynamics and Disturbances. in 2018 IEEE 14th International Conference on Control and Automation, ICCA 2018., 8444295, IEEE International Conference on Control and Automation, ICCA, vol. 2018-June, IEEE Computer Society, pp. 58-62, 14th IEEE International Conference on Control and Automation, ICCA 2018, Anchorage, United States, 12/06/18. https://doi.org/10.1109/ICCA.2018.8444295

Robust Formation Control for Multiple Quadrotors Subject to Nonlinear Dynamics and Disturbances. / Liu, Hao ; Dong, Xiwang; Lewis, Frank L. et al.
2018 IEEE 14th International Conference on Control and Automation, ICCA 2018. IEEE Computer Society, 2018. p. 58-62 8444295 (IEEE International Conference on Control and Automation, ICCA; Vol. 2018-June).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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AU - Valavanis, Kimon P.

PY - 2018/8/21

Y1 - 2018/8/21

N2 - In this paper, the robust formation control problem is dealt with for multiple unmnanned quadrotors, whose dynamics is subject to underactuation, nonlinearities, and external disturbances. A distributed robust controller is developed, which includes a position controller and an attitude controller. Simulation results of four quadrotors are given to show the effectiveness of the designed formation control protocol.

AB - In this paper, the robust formation control problem is dealt with for multiple unmnanned quadrotors, whose dynamics is subject to underactuation, nonlinearities, and external disturbances. A distributed robust controller is developed, which includes a position controller and an attitude controller. Simulation results of four quadrotors are given to show the effectiveness of the designed formation control protocol.

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DO - 10.1109/ICCA.2018.8444295

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T3 - IEEE International Conference on Control and Automation, ICCA

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BT - 2018 IEEE 14th International Conference on Control and Automation, ICCA 2018

PB - IEEE Computer Society

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Y2 - 12 June 2018 through 15 June 2018

ER -

Robust Formation Control for Multiple Quadrotors Subject to Nonlinear Dynamics and Disturbances

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