Adaptive Robust Time-Varying Formation Control of Quadrotors under Switching Topologies: Theory and Experiment

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...

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Bibliographic Details
Main Authors: Ziqian Zhao, Ming Zhu, Jiazheng Qin
Format: Article
Language:English
Published: MDPI AG 2023-08-01
Series:Aerospace
Subjects:
time-varying formation
TVNTSM
adaptive control
switching topology
linear-velocity free
formation experiment
Online Access:https://www.mdpi.com/2226-4310/10/8/735

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