LAUSR.org creates dashboard-style pages of related content for over 1.5 million academic articles. Sign Up to like articles & get recommendations!

Adaptive formation control of quadrotor unmanned aerial vehicles with bounded control thrust

Photo from wikipedia

Abstract In this paper, the flight formation control problem of a group of quadrotor unmanned aerial vehicles (UAVs) with parametric uncertainties and external disturbances is studied. Unit-quaternions are used to… Click to show full abstract

Abstract In this paper, the flight formation control problem of a group of quadrotor unmanned aerial vehicles (UAVs) with parametric uncertainties and external disturbances is studied. Unit-quaternions are used to represent the attitudes of the quadrotor UAVs. Separating the model into a translational subsystem and a rotational subsystem, an intermediary control input is introduced to track a desired velocity and extract desired orientations. Then considering the internal parametric uncertainties and external disturbances of the quadrotor UAVs, the priori-bounded intermediary adaptive control input is designed for velocity tracking and formation keeping, by which the bounded control thrust and the desired orientation can be extracted. Thereafter, an adaptive control torque input is designed for the rotational subsystem to track the desired orientation. With the proposed control scheme, the desired velocity is tracked and a desired formation shape is built up. Global stability of the closed-loop system is proven via Lyapunov-based stability analysis. Numerical simulation results are presented to illustrate the effectiveness of the proposed control scheme.

Keywords: formation control; quadrotor unmanned; control; unmanned aerial; formation

Journal Title: Chinese Journal of Aeronautics
Year Published: 2017

Link to full text (if available)


Share on Social Media:                               Sign Up to like & get
recommendations!

Related content

More Information              News              Social Media              Video              Recommended



                Click one of the above tabs to view related content.