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Disturbance observer-based backstepping formation control of multiple quadrotors with asymmetric output error constraints

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  • Wang, Fang
  • Gao, Yali
  • Zhou, Chao
  • Zong, Qun

Abstract

This paper presents a distributed formation tracking control strategy which acts on multiple quadrotor unmanned aerial vehicles (QUAVs) formation control under external disturbance and asymmetric output error constraints. An asymmetric barrier Lyapunov function (BLF) is applied to ensure the constraint of output error. Based on graph theory and backstepping control method, a distributed formation controller is designed to achieve the formation and maintenance of formations, where external disturbance is handled by disturbance observer (DO). In the framework of Lyapunov theory, the bounded stability of the closed-loop system is proved, and the output error is remained within the constraint range. The superiority and effectiveness of the designed control strategy is verified by the compared simulation.

Suggested Citation

  • Wang, Fang & Gao, Yali & Zhou, Chao & Zong, Qun, 2022. "Disturbance observer-based backstepping formation control of multiple quadrotors with asymmetric output error constraints," Applied Mathematics and Computation, Elsevier, vol. 415(C).
    • Handle: RePEc:eee:apmaco:v:415:y:2022:i:c:s0096300321007773
    DOI: 10.1016/j.amc.2021.126693
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    References listed on IDEAS

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    1. Du, Haibo & Yu, Bo & Wei, Jiajia & Zhang, Jun & Wu, Di & Tao, Weiqing, 2020. "Attitude trajectory planning and attitude control for quad-rotor aircraft based on finite-time control technique," Applied Mathematics and Computation, Elsevier, vol. 386(C).
    2. Liu, Wei & Ma, Qian & Zhuang, Guangming & Lu, Junwei & Chu, Yuming, 2019. "An improved adaptive neural dynamic surface control for pure-feedback systems with full state constraints and disturbance," Applied Mathematics and Computation, Elsevier, vol. 358(C), pages 37-50.
    3. Wang, Jinhuan & Xu, Yuling & Xu, Yong & Yang, Dedong, 2019. "Time-varying formation for high-order multi-agent systems with external disturbances by event-triggered integral sliding mode control," Applied Mathematics and Computation, Elsevier, vol. 359(C), pages 333-343.
    4. Zhang, Yanhui & Liang, Hongjing & Ma, Hui & Zhou, Qi & Yu, Zhandong, 2018. "Distributed adaptive consensus tracking control for nonlinear multi-agent systems with state constraints," Applied Mathematics and Computation, Elsevier, vol. 326(C), pages 16-32.
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    Cited by:

    1. Xiongfeng Deng & Yiqing Huang & Lisheng Wei, 2022. "Adaptive Fuzzy Command Filtered Finite-Time Tracking Control for Uncertain Nonlinear Multi-Agent Systems with Unknown Input Saturation and Unknown Control Directions," Mathematics, MDPI, vol. 10(24), pages 1-22, December.
    2. Wang, Le & Sun, Wei & Su, Shun-Feng, 2022. "Adaptive asymptotic tracking control for nonlinear systems with state constraints and input saturation," Applied Mathematics and Computation, Elsevier, vol. 431(C).
    3. Cui, Guozeng & Xu, Hui & Yu, Jinpeng & Ma, Jiali & Li, Ze, 2023. "Fixed-time distributed adaptive attitude control for multiple QUAVs with quantized input," Applied Mathematics and Computation, Elsevier, vol. 449(C).
    4. Xu, Lin-Xing & Wang, Yu-Long & Wang, Fei & Long, Yue, 2023. "Event-triggered active disturbance rejection trajectory tracking control for a quadrotor unmanned aerial vehicle," Applied Mathematics and Computation, Elsevier, vol. 449(C).

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