Distributed Leader-Follower Formation Control of Quadrotors Swarm Subjected to Disturbances

Mechali, Omar; Iqbal, Jamshed; Wang, Jingxiang; Xie, Xiaomei; Xu, Limei

doi:10.1109/ICMA52036.2021.9512623

Authors

Omar Mechali

Dr Jamshed Iqbal J.Iqbal@hull.ac.uk
Senior Lecturer

Jingxiang Wang

Xiaomei Xie

Limei Xu

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

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