Journal
IEEE TRANSACTIONS ON CYBERNETICS
Volume 49, Issue 1, Pages 342-353Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TCYB.2017.2777463
Keywords
Finite-time control; formation control; linear quadratic regulator (LQR); multiple quadrotor aircraft; nonsmooth consensus
Categories
Funding
- National Key Research and Development Program of China [2016YFB0800401]
- National Natural Science Foundation of China [61673153, 61722303, 61673104, 61773216]
- Natural Science Foundation of Jiangsu Province of China [BK20170079]
- Foundation for Innovative Research Groups of the National Natural Science Foundation of China [61621003]
- Australian Research Council [DE180101268]
- Fundamental Research Funds for the Central Universities of China [JZ2017HGPA0163, 2242016K41030]
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The problem of distributed formation control for multiple quadrotor aircraft in the form of leader-follower structure is considered in this paper. Based on a nonsmooth back-stepping design, a novel consensus formation control algorithm is proposed and utilized. First, for the position control subsystem, based on the linear quadratic regulator optimal design method, a formation control law for multiple quadrotor aircraft is designed such that the positions of all the quadrotor aircraft converge to the desired formation pattern. The designed formation control law for position systems will generate the desired attitude for the attitude control systems. Second, for the attitude control subsystem described by unit quaternion, by employing the technique of finite-time control and switch control, a global bounded finite-time attitude tracking controller is designed such that the desired attitude can be tracked by the multiple quadrotor aircraft in finite time. Finally, numerical example is performed to demonstrate that all quadrotor aircraft converge to the desired formation pattern in the 3-D-space.
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