Disturbance observer-based backstepping formation control of multiple quadrotors with asymmetric output error constraints

Fang Wang, Yali Gao, Chao Zhou and Qun Zong

Applied Mathematics and Computation, 2022, vol. 415, issue C

Abstract: This paper presents a distributed formation tracking control strategy which acts on multiple quadrotor unmanned aerial vehicles (QUAVs) formation control under external disturbance and asymmetric output error constraints. An asymmetric barrier Lyapunov function (BLF) is applied to ensure the constraint of output error. Based on graph theory and backstepping control method, a distributed formation controller is designed to achieve the formation and maintenance of formations, where external disturbance is handled by disturbance observer (DO). In the framework of Lyapunov theory, the bounded stability of the closed-loop system is proved, and the output error is remained within the constraint range. The superiority and effectiveness of the designed control strategy is verified by the compared simulation.

Keywords: Quadrotor unmanned aerial vehicles (QUAVs); Distributed formation tracking control; Output error constraints; Barrier Lyapunov function (BLF); Backstepping control (search for similar items in EconPapers)
Date: 2022
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Citations: View citations in EconPapers (8)

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Persistent link: https://EconPapers.repec.org/RePEc:eee:apmaco:v:415:y:2022:i:c:s0096300321007773

DOI: 10.1016/j.amc.2021.126693

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