Cooperative control for multiple quadrotors under position deviations and aerodynamic drag

In this paper, cooperative control is investigated for leader-follower multiple quadrotors under position deviations and aerodynamic drag. The leader-follower multiple quadrotors are modeled to cooperative subsystems and position subsystems. In the cooperative subsystems, nonlinear extended state observers are developed to estimate the position deviations. Moreover, nonlinear feedback controllers are designed to achieve cooperative performance in the cooperative subsystems. In the position subsystems, adaptive sliding mode controllers are proposed for ensuring a tracking capability under the aerodynamic drag. Finally, experimental results are shown for a single leader single follower system to demonstrate validity of the proposed method. (C) 2020 Elsevier Ltd. All rights reserved.

Automated summary

This paper investigates cooperative control for leader-follower multiple quadrotors under position deviations and aerodynamic drag, modeling them as cooperative subsystems and position subsystems. Nonlinear extended state observers and feedback controllers are developed for estimating position deviations and achieving cooperative performance, while adaptive sliding mode controllers are proposed for tracking capability under aerodynamic drag. Experimental results for a single leader single follower system demonstrate the validity of the proposed method.