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, August). Distributed Leader-Follower Formation Control of Quadrotors Swarm Subjected to Disturbances. Presented at 2021 IEEE International Conference on Mechatronics and Automation, ICMA 2021, Takamatsu, Japan
| Presentation Conference Type | Conference Paper (published) |
|---|---|
| Conference Name | 2021 IEEE International Conference on Mechatronics and Automation, ICMA 2021 |
| 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 | Aug 9, 2023 |
| 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 |
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