@inproceedings{ebdddfe9070d4eb4a36f7253ed740c30,
title = "Robust Formation Control for Quadrotors with Obstacle Avoidance and Reconfiguration",
abstract = "A robust multi-constraint model predictive control (MPC) with strong robustness is proposed for the obstacle avoidance and reconfiguration problems of quadrotor UAVs during formation flight. Firstly, the fixed-time observer is designed to estimate the external disturbances, which ensures that the estimation error converges to zero in a fixed time. Secondly, the estimates of the disturbances are introduced into the prediction model to improve the robustness of the formation controller. Finally, another two cost functions are presented to avoid collisions between obstacles and UAVs. Several simulations demonstrate the effectiveness of the scheme.",
keywords = "Formation, MPC, Obstacle avoidance, Quadrotor, Reconfiguration",
author = "Danghui Yan and Weiguo Zhang",
note = "Publisher Copyright: {\textcopyright} 2023, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.; International Conference on Guidance, Navigation and Control, ICGNC 2022 ; Conference date: 05-08-2022 Through 07-08-2022",
year = "2023",
doi = "10.1007/978-981-19-6613-2_597",
language = "英语",
isbn = "9789811966125",
series = "Lecture Notes in Electrical Engineering",
publisher = "Springer Science and Business Media Deutschland GmbH",
pages = "6184--6193",
editor = "Liang Yan and Haibin Duan and Yimin Deng and Liang Yan",
booktitle = "Advances in Guidance, Navigation and Control - Proceedings of 2022 International Conference on Guidance, Navigation and Control",
}