학술논문
Distributed Robust Formation Control of Heterogeneous Multi-UAVs With Disturbance Rejection
Document Type
Periodical
Author
Source
IEEE Access Access, IEEE. 12:55326-55341 2024
Subject
Language
ISSN
2169-3536
Abstract
This paper investigates the formation control of multiple heterogeneous quadrotor unmanned aerial vehicles (UAVs). The research focuses on developing a distributed robust formation control strategy to effectively manage the translational and attitude motions of the UAVs utilizing an active virtual leader. The communication of each agent in a connected environment is represented by a directed graph. To align with real applications, only a minimum of one agent is required to connect with the leader. The challenge associated with controlling systems is more complicated by the inherent heterogeneity of UAVs, characterized by variations in their model parameters and the presence of external disturbances in the system dynamics. A robust term is proposed to handle time-varying disturbances added to the closed-loop systems. A comprehensive mathematical proof and numerical illustrations are provided to validate the efficacy of the proposed formation control strategy.