TY - GEN
T1 - Estimator-Based Finite-Time Formation-Containment Control for Multiple Underactuated Quadrotors
AU - Qu, Yuanfang
AU - Xu, Yang
N1 - Publisher Copyright:
© 2023, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.
PY - 2023
Y1 - 2023
N2 - This paper proposes an estimator-based formation-containment control method, which regards the quadrotor as an underactuated system. The position and attitude of both leaders and followers can converge with the proposed controllers, the formation control can realize within finite time, and all quadrotors can follow the desired trajectory. Firstly, we establish the translational and rotational models of the quadrotor; a distributed finite-time sliding mode estimator is designed such that each quadrotor can obtain the estimated information. Then, considering the underactuated quadrotor model, an adaptive sliding mode controller is proposed, which drives the quadrotor to both estimated position and attitude; the controller adopts a high-order derivative approximation algorithm to tackle the differential explosion problem in the quadrotor attitude algorithm. Finally, the system is proved asymptotically stable; the proposed control method has been verified through numerical simulations.
AB - This paper proposes an estimator-based formation-containment control method, which regards the quadrotor as an underactuated system. The position and attitude of both leaders and followers can converge with the proposed controllers, the formation control can realize within finite time, and all quadrotors can follow the desired trajectory. Firstly, we establish the translational and rotational models of the quadrotor; a distributed finite-time sliding mode estimator is designed such that each quadrotor can obtain the estimated information. Then, considering the underactuated quadrotor model, an adaptive sliding mode controller is proposed, which drives the quadrotor to both estimated position and attitude; the controller adopts a high-order derivative approximation algorithm to tackle the differential explosion problem in the quadrotor attitude algorithm. Finally, the system is proved asymptotically stable; the proposed control method has been verified through numerical simulations.
KW - Distributed control
KW - Formation-containment control
KW - Quadrotor systems
UR - http://www.scopus.com/inward/record.url?scp=85151165170&partnerID=8YFLogxK
U2 - 10.1007/978-981-19-6613-2_233
DO - 10.1007/978-981-19-6613-2_233
M3 - 会议稿件
AN - SCOPUS:85151165170
SN - 9789811966125
T3 - Lecture Notes in Electrical Engineering
SP - 2394
EP - 2404
BT - Advances in Guidance, Navigation and Control - Proceedings of 2022 International Conference on Guidance, Navigation and Control
A2 - Yan, Liang
A2 - Duan, Haibin
A2 - Deng, Yimin
A2 - Yan, Liang
PB - Springer Science and Business Media Deutschland GmbH
T2 - International Conference on Guidance, Navigation and Control, ICGNC 2022
Y2 - 5 August 2022 through 7 August 2022
ER -