Omar Mechali
Distributed Leader-Follower Formation Control of Quadrotors Swarm Subjected to Disturbances
Mechali, Omar; Iqbal, Jamshed; Wang, Jingxiang; Xie, Xiaomei; Xu, Limei
Abstract
This paper proposes a novel control scheme for a group of quadrotors aircrafts that form a leader-follower configuration and are subjected to nonlinear behavior with lumped disturbances. For each aircraft, a distributed formation control law is designed. The desired geometrical pattern is achieved and the reference formation trajectory is tracked using the synthesized fixed-time position control robust law. Considering the overall feedback system, the presented work also presents a rigorous stability analysis of the system. Moreover, to characterize the control performance, simulations are conducted in a realistic ROS/Gazebo environment. Compared with the relevant literature, the proposed scheme demonstrates superior performance in practice because (i) convergence-time of the agents does not depend on their initial positions; (ii) chattering problem of switching control methods is avoided; (iii) zero error in steady-state is obtained while ensuring robustness.
Citation
Mechali, O., Iqbal, J., Wang, J., Xie, X., & Xu, L. (2021). Distributed Leader-Follower Formation Control of Quadrotors Swarm Subjected to Disturbances. In 2021 IEEE International Conference on Mechatronics and Automation (1442-1447). https://doi.org/10.1109/ICMA52036.2021.9512623
Conference Name | 2021 IEEE International Conference on Mechatronics and Automation, ICMA 2021 |
---|---|
Conference Location | Takamatsu, Japan |
Start Date | Aug 8, 2021 |
End Date | Aug 11, 2021 |
Acceptance Date | Jul 1, 2021 |
Publication Date | Aug 8, 2021 |
Deposit Date | Sep 15, 2021 |
Publicly Available Date | Oct 27, 2022 |
Publisher | Institute of Electrical and Electronics Engineers |
Pages | 1442-1447 |
Book Title | 2021 IEEE International Conference on Mechatronics and Automation |
ISBN | 9781665441001 |
DOI | https://doi.org/10.1109/ICMA52036.2021.9512623 |
Public URL | https://hull-repository.worktribe.com/output/3839921 |
Files
Accepted Paper
(980 Kb)
PDF
Copyright Statement
© 2021 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.
You might also like
Nonlinear adaptive backstepping control of permanent magnet synchronous motor
(2021)
Journal Article