Distributed Formation Control for Multiple Quadrotor Based on Multi-Agent Theory and Disturbance Observer
Joint Authors
Gao, Junli
Zhang, Xiaohua
Zhang, Wenfeng
Zeng, Tao
Ye, Liping
Source
Mathematical Problems in Engineering
Issue
Vol. 2019, Issue 2019 (31 Dec. 2019), pp.1-11, 11 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2019-02-12
Country of Publication
Egypt
No. of Pages
11
Main Subjects
Abstract 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.
American Psychological Association (APA)
Zhang, Xiaohua& Gao, Junli& Zhang, Wenfeng& Zeng, Tao& Ye, Liping. 2019. Distributed Formation Control for Multiple Quadrotor Based on Multi-Agent Theory and Disturbance Observer. Mathematical Problems in Engineering،Vol. 2019, no. 2019, pp.1-11.
https://search.emarefa.net/detail/BIM-1196877
Modern Language Association (MLA)
Zhang, Xiaohua…[et al.]. Distributed Formation Control for Multiple Quadrotor Based on Multi-Agent Theory and Disturbance Observer. Mathematical Problems in Engineering No. 2019 (2019), pp.1-11.
https://search.emarefa.net/detail/BIM-1196877
American Medical Association (AMA)
Zhang, Xiaohua& Gao, Junli& Zhang, Wenfeng& Zeng, Tao& Ye, Liping. Distributed Formation Control for Multiple Quadrotor Based on Multi-Agent Theory and Disturbance Observer. Mathematical Problems in Engineering. 2019. Vol. 2019, no. 2019, pp.1-11.
https://search.emarefa.net/detail/BIM-1196877
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1196877