Abstract
In this paper, the robust formation control problem is investigated for a group of quadrotors. Each quadrotor dynamics exhibits the features of underactuation, high nonlinearities and couplings, and disturbances in both the translational and rotational motions. A distributed robust controller is developed, which consists of a position controller to govern the translational motion for the desired formation and an attitude controller to control the rotational motion of each quadrotor. Theoretical analysis and simulation studies of a formation of multiple uncertain quadrotors are presented to validate the effectiveness of the proposed formation control scheme.
| Original language | English |
|---|---|
| Article number | 8509160 |
| Pages (from-to) | 1362-1371 |
| Number of pages | 10 |
| Journal | IEEE Transactions on Cybernetics |
| Volume | 50 |
| Issue number | 4 |
| DOIs | |
| State | Published - Apr 2020 |
Keywords
- Formation control
- multiagent system
- nonlinear system
- quadrotors
- robust control
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