Robust Formation Tracking Control for Multiple Quadrotors Subject to Switching Topologies

Hao Liu; Yanhu Wang; Frank L. Lewis; Kimon P. Valavanis

doi:10.1109/TCNS.2020.2976271

Robust Formation Tracking Control for Multiple Quadrotors Subject to Switching Topologies

Hao Liu^*
, Yanhu Wang
, Frank L. Lewis
, Kimon P. Valavanis

^*Corresponding author for this work

School of Artificial Intelligence(Institute of Artificial Intelligence)

Beihang University
University of Texas at Arlington
Northeastern University China
University of Denver

Research output: Contribution to journal › Article › peer-review

60 Scopus citations

Abstract

This article focuses on formation control of multiagent systems composed of a team of quadrotors subject to switching topologies. The quadrotor model is underactuated and includes nonlinear dynamics, parameter uncertainties, and external disturbance. A robust control approach is proposed that consists of a position and an attitude controller, both consisting of two subsystems: the nominal controller that is designed to achieve desired tracking for the nominal system, and the disturbance estimating controller that restrains the influence of uncertainties on the real system. Theoretical foundations, detailed simulation studies, and experimental results validate the effectiveness of the proposed methodology.

Original language	English
Article number	9013071
Pages (from-to)	1319-1329
Number of pages	11
Journal	IEEE Transactions on Control of Network Systems
Volume	7
Issue number	3
DOIs	https://doi.org/10.1109/TCNS.2020.2976271
State	Published - Sep 2020

Keywords

Formation control
multiagent system
quadrotor
robust control
switching topology

Access to Document

10.1109/TCNS.2020.2976271

Cite this

@article{2f96acead25c44cda539c8ea130cd34a,

title = "Robust Formation Tracking Control for Multiple Quadrotors Subject to Switching Topologies",

abstract = "This article focuses on formation control of multiagent systems composed of a team of quadrotors subject to switching topologies. The quadrotor model is underactuated and includes nonlinear dynamics, parameter uncertainties, and external disturbance. A robust control approach is proposed that consists of a position and an attitude controller, both consisting of two subsystems: the nominal controller that is designed to achieve desired tracking for the nominal system, and the disturbance estimating controller that restrains the influence of uncertainties on the real system. Theoretical foundations, detailed simulation studies, and experimental results validate the effectiveness of the proposed methodology.",

keywords = "Formation control, multiagent system, quadrotor, robust control, switching topology",

author = "Hao Liu and Yanhu Wang and Lewis, \{Frank L.\} and Valavanis, \{Kimon P.\}",

note = "Publisher Copyright: {\textcopyright} 2014 IEEE.",

year = "2020",

month = sep,

doi = "10.1109/TCNS.2020.2976271",

language = "英语",

volume = "7",

pages = "1319--1329",

journal = "IEEE Transactions on Control of Network Systems",

issn = "2325-5870",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

number = "3",

}

TY - JOUR

T1 - Robust Formation Tracking Control for Multiple Quadrotors Subject to Switching Topologies

AU - Liu, Hao

AU - Wang, Yanhu

AU - Lewis, Frank L.

AU - Valavanis, Kimon P.

PY - 2020/9

Y1 - 2020/9

N2 - This article focuses on formation control of multiagent systems composed of a team of quadrotors subject to switching topologies. The quadrotor model is underactuated and includes nonlinear dynamics, parameter uncertainties, and external disturbance. A robust control approach is proposed that consists of a position and an attitude controller, both consisting of two subsystems: the nominal controller that is designed to achieve desired tracking for the nominal system, and the disturbance estimating controller that restrains the influence of uncertainties on the real system. Theoretical foundations, detailed simulation studies, and experimental results validate the effectiveness of the proposed methodology.

AB - This article focuses on formation control of multiagent systems composed of a team of quadrotors subject to switching topologies. The quadrotor model is underactuated and includes nonlinear dynamics, parameter uncertainties, and external disturbance. A robust control approach is proposed that consists of a position and an attitude controller, both consisting of two subsystems: the nominal controller that is designed to achieve desired tracking for the nominal system, and the disturbance estimating controller that restrains the influence of uncertainties on the real system. Theoretical foundations, detailed simulation studies, and experimental results validate the effectiveness of the proposed methodology.

KW - Formation control

KW - multiagent system

KW - quadrotor

KW - robust control

KW - switching topology

UR - https://www.scopus.com/pages/publications/85081402030

U2 - 10.1109/TCNS.2020.2976271

DO - 10.1109/TCNS.2020.2976271

M3 - 文章

AN - SCOPUS:85081402030

SN - 2325-5870

VL - 7

SP - 1319

EP - 1329

JO - IEEE Transactions on Control of Network Systems

JF - IEEE Transactions on Control of Network Systems

IS - 3

M1 - 9013071

ER -

Robust Formation Tracking Control for Multiple Quadrotors Subject to Switching Topologies

Abstract

Keywords

Access to Document

Other files and links

Fingerprint

Cite this