Distributed Formation Control for Multiple Quadrotor Based on Multi-Agent Theory and Disturbance Observer

الملخص EN

This paper presents the disturbance observers-based distributed formation control for multiple quadrotor aircrafts with external disturbances and uncertain parameters using multi-agent theory and finite-time control method.

Firstly, the finite-time disturbance observers are proposed to handle the external disturbances on the position-loop.

Similarly, when there are both the uncertain parameters and external disturbances on the attitude-loop, the finite-time disturbance observers are designed to estimate the total lump disturbances.

By skillfully using homogeneous system theory, Lyapunov theory, and multi-agent theory, the distributed formation control algorithms are developed.

Finally, through simulations, the efficiency of the proposed method (including the convergence rate and disturbance rejection) is verified.