Distributed Formation Control for Multiple Quadrotor Based on Multi-Agent Theory and Disturbance Observer

Xiaohua Zhang, Junli Gao, Wenfeng Zhang, Tao Zeng and Liping Ye

Mathematical Problems in Engineering, 2019, vol. 2019, 1-11

Abstract:

This paper presents the disturbance observers-based distributed formation control for multiple quadrotor aircrafts with external disturbances and uncertain parameters using multi-agent theory and finite-time control method. Firstly, the finite-time disturbance observers are proposed to handle the external disturbances on the position-loop. Similarly, when there are both the uncertain parameters and external disturbances on the attitude-loop, the finite-time disturbance observers are designed to estimate the total lump disturbances. By skillfully using homogeneous system theory, Lyapunov theory, and multi-agent theory, the distributed formation control algorithms are developed. Finally, through simulations, the efficiency of the proposed method (including the convergence rate and disturbance rejection) is verified.

Date: 2019
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Persistent link: https://EconPapers.repec.org/RePEc:hin:jnlmpe:7234969

DOI: 10.1155/2019/7234969

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