Multi-Layer Adaptive Finite Time Super Twisting Control for Quaternion-Based Quadrotor Formation With Obstacle Avoidance
This article investigates the trajectory tracking problem of quadrotor formation with collision avoiding. The safety distributed control strategy is introduced for quaternion-based multiple quadrotors formation to avoid collision. Then, based on super-twisting and adaptive control method, a multiple...
| Main Authors: | , , , , |
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| Format: | Article |
| Language: | English |
| Published: |
IEEE
2020-01-01
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| Series: | IEEE Access |
| Subjects: | |
| Online Access: | https://ieeexplore.ieee.org/document/9268146/ |