Redirigiendo al acceso original de articulo en 18 segundos...
Inicio  /  Aerospace  /  Vol: 10 Par: 10 (2023)  /  Artículo
ARTÍCULO
TITULO

Distributed Robust Formation Tracking Control for Quadrotor UAVs with Unknown Parameters and Uncertain Disturbances

Linxing Xu and Yang Li    

Resumen

In this paper, the distributed formation tracking control problem of quadrotor unmanned aerial vehicles is considered. Adaptive backstepping inherently accommodates model uncertainties and external disturbances, making it a robust choice for the dynamic and unpredictable environments in which unmanned aerial vehicles operate. This paper designs a formation flight control scheme for quadrotor unmanned aerial vehicles based on adaptive backstepping technology. The proposed control scheme is divided into two parts. For the position subsystem, a distributed robust formation tracking control scheme is developed to achieve formation flight of quadrotor unmanned aerial vehicles and track the desired flight trajectory. For the attitude subsystem, an adaptive disturbance rejection control scheme is proposed to achieve attitude stabilization during unmanned aerial vehicle flight under uncertain disturbances. Compared to existing results, the novelty of this paper lies in presenting a disturbance rejection flight control scheme for actual quadrotor unmanned aerial vehicle formations, without the need to know the model parameters of each unmanned aerial vehicle. Finally, a quadrotor unmanned aerial vehicle swarm system is used to verify the effectiveness of the proposed control scheme.

 Artículos similares

       
 
Kathiravan Thangavel, Pablo Servidia, Roberto Sabatini, Pier Marzocca, Haytham Fayek, Santiago Husain Cerruti, Martin España and Dario Spiller    
Space-based Earth Observation (EO) systems have undergone a continuous evolution in the twenty-first century. With the help of space-based Maritime Domain Awareness (MDA), specially Automatic Identification Systems (AIS), their applicability across the w... ver más
Revista: Aerospace

 
Aristeidis Karras, Christos Karras, Konstantinos C. Giotopoulos, Dimitrios Tsolis, Konstantinos Oikonomou and Spyros Sioutas    
Federated learning (FL) has emerged as a promising technique for preserving user privacy and ensuring data security in distributed machine learning contexts, particularly in edge intelligence and edge caching applications. Recognizing the prevalent chall... ver más
Revista: Information

 
Tongjing Sun, Yabin Wen, Xuegang Zhang, Bing Jia and Mengwei Zhou    
Ocean reverberations, a significant interference source in active sonar, arise as a response generated by random scattering at the receiving end, a consequence of randomly distributed clutter or irregular interfaces. Statistical analysis of reverberation... ver más
Revista: Applied Sciences

 
Moritz Platt and Peter McBurney    
Consensus algorithms are applied in the context of distributed computer systems to improve their fault tolerance. The explosive development of distributed ledger technology following the proposal of ?Bitcoin? led to a sharp increase in research activity ... ver más
Revista: Algorithms

 
Xiaochun Zhang, Jianhan Hu and Shuyang Chen    
In the southeastern coastal regions of China, thick layers of marine soft soil are widely distributed, exhibiting characteristics such as high compressibility, high porosity, low strength, high sensitivity, and easy thixotropy, and these viscoelastic beh... ver más
Revista: Applied Sciences