Adaptive Robust Time-Varying Formation Control of Quadrotors under Switching Topologies: Theory and Experiment
This paper investigates a practical time-varying formation control method for quadrotors subjected to disturbances, uncertainties, and switching-directed topologies. A fully distributed formation control scheme is proposed using a linear-velocity independent position controller (LVIPC) and a nonsing...
| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
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MDPI AG
2023-08-01
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| Series: | Aerospace |
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| Online Access: | https://www.mdpi.com/2226-4310/10/8/735 |
| _version_ | 1797585869752762368 |
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| author | Ziqian Zhao Ming Zhu Jiazheng Qin |
| author_facet | Ziqian Zhao Ming Zhu Jiazheng Qin |
| author_sort | Ziqian Zhao |
| collection | DOAJ |
| description | This paper investigates a practical time-varying formation control method for quadrotors subjected to disturbances, uncertainties, and switching-directed topologies. A fully distributed formation control scheme is proposed using a linear-velocity independent position controller (LVIPC) and a nonsingular terminal sliding mode attitude controller (NTSMAC). A distributed observer is adopted to eliminate the measurement of linear-velocity states, and only local neighbor states are needed to realize formation flight. A time-varying nonsingular terminal sliding mode manifold is designed to suppress the reaching phase and ensure the finite-time convergence. Adaptive estimators are employed to remove the reliance on the prior knowledge of the upper bound of lumped uncertainties. It is then proven that all the closed-loop signals are bounded under the proposed method. Comparative experimental results based on a practical outdoor hardware solution are presented to confirm the effectiveness of the suggested control algorithm. |
| first_indexed | 2024-03-11T00:13:16Z |
| format | Article |
| id | doaj.art-3515cf379b344a1391e22b4dc7686660 |
| institution | Directory Open Access Journal |
| issn | 2226-4310 |
| language | English |
| last_indexed | 2024-03-11T00:13:16Z |
| publishDate | 2023-08-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Aerospace |
| spelling | doaj.art-3515cf379b344a1391e22b4dc76866602023-11-18T23:50:30ZengMDPI AGAerospace2226-43102023-08-0110873510.3390/aerospace10080735Adaptive Robust Time-Varying Formation Control of Quadrotors under Switching Topologies: Theory and ExperimentZiqian Zhao0Ming Zhu1Jiazheng Qin2School of Aeronautic Science and Engineering, Beihang University, Beijing 100191, ChinaInstitute of Unmanned System, Beihang University, Beijing 100191, ChinaSchool of Aeronautic Science and Engineering, Beihang University, Beijing 100191, ChinaThis paper investigates a practical time-varying formation control method for quadrotors subjected to disturbances, uncertainties, and switching-directed topologies. A fully distributed formation control scheme is proposed using a linear-velocity independent position controller (LVIPC) and a nonsingular terminal sliding mode attitude controller (NTSMAC). A distributed observer is adopted to eliminate the measurement of linear-velocity states, and only local neighbor states are needed to realize formation flight. A time-varying nonsingular terminal sliding mode manifold is designed to suppress the reaching phase and ensure the finite-time convergence. Adaptive estimators are employed to remove the reliance on the prior knowledge of the upper bound of lumped uncertainties. It is then proven that all the closed-loop signals are bounded under the proposed method. Comparative experimental results based on a practical outdoor hardware solution are presented to confirm the effectiveness of the suggested control algorithm.https://www.mdpi.com/2226-4310/10/8/735time-varying formationTVNTSMadaptive controlswitching topologylinear-velocity freeformation experiment |
| spellingShingle | Ziqian Zhao Ming Zhu Jiazheng Qin Adaptive Robust Time-Varying Formation Control of Quadrotors under Switching Topologies: Theory and Experiment Aerospace time-varying formation TVNTSM adaptive control switching topology linear-velocity free formation experiment |
| title | Adaptive Robust Time-Varying Formation Control of Quadrotors under Switching Topologies: Theory and Experiment |
| title_full | Adaptive Robust Time-Varying Formation Control of Quadrotors under Switching Topologies: Theory and Experiment |
| title_fullStr | Adaptive Robust Time-Varying Formation Control of Quadrotors under Switching Topologies: Theory and Experiment |
| title_full_unstemmed | Adaptive Robust Time-Varying Formation Control of Quadrotors under Switching Topologies: Theory and Experiment |
| title_short | Adaptive Robust Time-Varying Formation Control of Quadrotors under Switching Topologies: Theory and Experiment |
| title_sort | adaptive robust time varying formation control of quadrotors under switching topologies theory and experiment |
| topic | time-varying formation TVNTSM adaptive control switching topology linear-velocity free formation experiment |
| url | https://www.mdpi.com/2226-4310/10/8/735 |
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