TY - GEN
T1 - Affine formation maneuver control for multiple underactuated quadrotor uavs with fixed convergence time
AU - Qu, Yuanfang
AU - Xu, Yang
AU - Zhang, Kai
N1 - Publisher Copyright:
© 2022 ACM.
PY - 2022/12/16
Y1 - 2022/12/16
N2 - This paper proposes an affine formation maneuver control scheme for multiple underactuated quadrotor UAVs, which comprises the distributed fixed-time estimators and tracking controllers, , translational and rotational controllers. The desired states can be obtained within fixed time by the distributed fixed-time estimators. Then, under the proposed fixed-time tracking controllers, all error signals in the control system converge. Meanwhile, an attitude extraction algorithm is adopted to obtain the desired rotational states. A first-order filter is proposed to deal with calculating derivatives for variables. Finally, through numerical simulations, the feasibility of the proposed control scheme is proved.
AB - This paper proposes an affine formation maneuver control scheme for multiple underactuated quadrotor UAVs, which comprises the distributed fixed-time estimators and tracking controllers, , translational and rotational controllers. The desired states can be obtained within fixed time by the distributed fixed-time estimators. Then, under the proposed fixed-time tracking controllers, all error signals in the control system converge. Meanwhile, an attitude extraction algorithm is adopted to obtain the desired rotational states. A first-order filter is proposed to deal with calculating derivatives for variables. Finally, through numerical simulations, the feasibility of the proposed control scheme is proved.
KW - Affine formation maneuver control
KW - Fixed-time control
KW - Underactuated quadrotor unmanned aerial vehicles
UR - http://www.scopus.com/inward/record.url?scp=85158003600&partnerID=8YFLogxK
U2 - 10.1145/3584376.3584448
DO - 10.1145/3584376.3584448
M3 - 会议稿件
AN - SCOPUS:85158003600
T3 - ACM International Conference Proceeding Series
SP - 396
EP - 401
BT - Proceedings of 2022 4th International Conference on Robotics, Intelligent Control and Artificial Intelligence, RICAI 2022
PB - Association for Computing Machinery
T2 - 4th International Conference on Robotics, Intelligent Control and Artificial Intelligence, RICAI 2022
Y2 - 16 December 2022 through 18 December 2022
ER -