Leader-Follower Formation Control of Multi-quadrotor Systems Based On the Dynamic Surface Approach

Dun, Ao; Wang, Rui; Xu, Qianjiao

doi:10.1109/cac51589.2020.9326688

Cited by 2 publications

(3 citation statements)

References 28 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…Compared with Dun et al (2020), the nonlinear ESO is designed, which incorporates a nonlinear function, to improve the disturbance estimation performance. Compared wtih Xu and Cao (2019), the simulation results show that the formation control designed in this paper can remain stable well.…”

Section: Simulation Resultsmentioning

confidence: 99%

“…In the case of limited communication, the leader-follower formation tracking control strategy is proposed (Dai et al, 2020), in which other followers only need to receive information from the leader. Compared with Dai et al (2020), a virtual aircraft combined with the leader-follower method is designed, which achieves the formation according to the reference trajectory of the leader's position and direction (Dun et al, 2020).…”

Section: Introductionmentioning

confidence: 99%

“…The dynamic surface controller based on the nonlinear ESO has advantages, which can avoid the complexity explosion. Compared with Dun et al (2020), the nonlinear ESO is designed, which incorporates a nonlinear function, to improve the disturbance estimation performance. Besides, the saturation function and the auxiliary system are developed to make up for nonlinear terms arising from input saturation.…”

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Dynamic surface control for formation control of quadrotors with input constraints and disturbances

Dun

Wang

Lei

et al. 2022

Transactions of the Institute of Measurement and Control

Self Cite

View full text Add to dashboard Cite

In this paper, a novel formation control scheme is presented by integrating the dynamic surface control for multi-quadrotor subject with model uncertainties and external disturbances. First, according to requirements of formation control, the target trajectories of followers are obtained by the designed virtual quadrotors. Then, the formation control problem is transformed into the trajectory tracking control problem. Second, the saturation function and the auxiliary system are developed to make up for nonlinear terms arising from input saturation. A nonlinear extended state observer (ESO) is proposed to estimate and compensate for model uncertainties and external disturbances, and a dynamic surface controller based on the nonlinear ESO is constructed for the desired formation performance. In addition, the amount of communications between the quadrotors is decreased by the constructed distributed speed estimator. And the uniformly ultimately bounded is proved by using the Lyapunov method. Finally, the numerical example is used to demonstrate that the designed controller is effective.

show abstract

Section: Simulation Resultsmentioning

confidence: 99%