Abstract
A multitude of quadrotors cooperatively executing complicated tasks in predefined geometric configurations has attracted arising attention. Accurate and effective formation control laws are essential for completing missions. Finite- and fixed-time group formation control problems for multiple quadrotors are researched in this paper. The quadrotors are first divided into M distinct and non-overlapping subgroups. In each subgroup, quadrotors are driven to form the predefined configuration, with the whole achieving M-group formation meanwhile. Two distributed algorithms for multiple quadrotors system are then designed to realize finite- and fixed-time group formation. Detailed and theoretical analysis of finite- and fixed-time group formation formability is conducted. Sufficient conditions are provided by utilizing the Lyapunov stability and bi-limit homogeneity theory. Two simulations are carried out to verify the effectiveness of proposed algorithms.
| Original language | English |
|---|---|
| Pages (from-to) | 186-196 |
| Number of pages | 11 |
| Journal | ISA Transactions |
| Volume | 138 |
| DOIs | |
| State | Published - Jul 2023 |
Keywords
- Finite-time
- Fixed-time
- Group formation
- Homogeneous theory
- Multiple quadrotors system
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