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Leader-follower finite-time formation control of multiple quadrotors with prescribed performance

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  • Changchun Hua
  • Jiannan Chen
  • Yafeng Li

Abstract

This paper investigates the leader-follower formation problem for a group of quadrotors. Finite-time control scheme and prescribed performance control method, which are regarded as two highlights, are introduced in this paper. First, a control scheme with prescribed performance is used to control the translational movements to ensure the quadrotors obtain a relative gentle transient process and an adjustable steady-state error bound. Then, the desired orientations for the rotation subsystem provided by translational movements part are stabilised by a fixed-time control law. Finally, by designing a finite-time formation controller, followers can track the desired position and heading angle in finite time, which is important for the practical application. Several simulation results are given to show the effectiveness of the designed control strategy.

Suggested Citation

  • Changchun Hua & Jiannan Chen & Yafeng Li, 2017. "Leader-follower finite-time formation control of multiple quadrotors with prescribed performance," International Journal of Systems Science, Taylor & Francis Journals, vol. 48(12), pages 2499-2508, September.
    • Handle: RePEc:taf:tsysxx:v:48:y:2017:i:12:p:2499-2508
    DOI: 10.1080/00207721.2017.1323135
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