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Distributed Formation Control of Multiple Quadrotor Aircraft Based on Nonsmooth Consensus Algorithms
Du, Haibo1; Zhu, Wenwu1; Wen, Guanghui2,3; Duan, Zhisheng4; Lu, Jinhu5
2019
Source PublicationIEEE TRANSACTIONS ON CYBERNETICS
ISSN2168-2267
Volume49Issue:1Pages:342-353
AbstractThe problem of distributed formation control for multiple quadrotor aircraft in the form of leader-follower structure is considered in this paper. Based on a nonsmooth back-stepping design, a novel consensus formation control algorithm is proposed and utilized. First, for the position control subsystem, based on the linear quadratic regulator optimal design method, a formation control law for multiple quadrotor aircraft is designed such that the positions of all the quadrotor aircraft converge to the desired formation pattern. The designed formation control law for position systems will generate the desired attitude for the attitude control systems. Second, for the attitude control subsystem described by unit quaternion, by employing the technique of finite-time control and switch control, a global bounded finite-time attitude tracking controller is designed such that the desired attitude can be tracked by the multiple quadrotor aircraft in finite time. Finally, numerical example is performed to demonstrate that all quadrotor aircraft converge to the desired formation pattern in the 3-D-space.
KeywordFinite-time control formation control linear quadratic regulator (LQR) multiple quadrotor aircraft nonsmooth consensus
DOI10.1109/TCYB.2017.2777463
Language英语
Funding ProjectNational Key Research and Development Program of China[2016YFB0800401] ; National Natural Science Foundation of China[61673153] ; National Natural Science Foundation of China[61722303] ; National Natural Science Foundation of China[61673104] ; National Natural Science Foundation of China[61773216] ; Natural Science Foundation of Jiangsu Province of China[BK20170079] ; Foundation for Innovative Research Groups of the National Natural Science Foundation of China[61621003] ; Australian Research Council[DE180101268] ; Fundamental Research Funds for the Central Universities of China[JZ2017HGPA0163] ; Fundamental Research Funds for the Central Universities of China[2242016K41030]
WOS Research AreaAutomation & Control Systems ; Computer Science
WOS SubjectAutomation & Control Systems ; Computer Science, Artificial Intelligence ; Computer Science, Cybernetics
WOS IDWOS:000454242300027
PublisherIEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
Citation statistics
Cited Times:18[WOS]   [WOS Record]     [Related Records in WOS]
Document Type期刊论文
Identifierhttp://ir.amss.ac.cn/handle/2S8OKBNM/32130
Collection系统科学研究所
Affiliation1.Hefei Univ Technol, Sch Elect Engn & Automat, Hefei 230009, Anhui, Peoples R China
2.Southeast Univ, Sch Math, Nanjing 210096, Jiangsu, Peoples R China
3.RMIT Univ, Sch Engn, Melbourne, Vic 3001, Australia
4.Peking Univ, Dept Mech & Engn Sci, Coll Engn, State Key Lab Turbulence & Complex Syst, Beijing 100871, Peoples R China
5.Chinese Acad Sci, Acad Math & Syst Sci, Inst Syst Sci, Beijing 100190, Peoples R China
Recommended Citation
GB/T 7714
Du, Haibo,Zhu, Wenwu,Wen, Guanghui,et al. Distributed Formation Control of Multiple Quadrotor Aircraft Based on Nonsmooth Consensus Algorithms[J]. IEEE TRANSACTIONS ON CYBERNETICS,2019,49(1):342-353.
APA Du, Haibo,Zhu, Wenwu,Wen, Guanghui,Duan, Zhisheng,&Lu, Jinhu.(2019).Distributed Formation Control of Multiple Quadrotor Aircraft Based on Nonsmooth Consensus Algorithms.IEEE TRANSACTIONS ON CYBERNETICS,49(1),342-353.
MLA Du, Haibo,et al."Distributed Formation Control of Multiple Quadrotor Aircraft Based on Nonsmooth Consensus Algorithms".IEEE TRANSACTIONS ON CYBERNETICS 49.1(2019):342-353.
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