Preprint Article Version 1 Preserved in Portico This version is not peer-reviewed

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

Version 1 : Received: 30 August 2023 / Approved: 31 August 2023 / Online: 1 September 2023 (10:32:06 CEST)

A peer-reviewed article of this Preprint also exists.

Xu, L.; Li, Y. Distributed Robust Formation Tracking Control for Quadrotor UAVs with Unknown Parameters and Uncertain Disturbances. Aerospace 2023, 10, 845. Xu, L.; Li, Y. Distributed Robust Formation Tracking Control for Quadrotor UAVs with Unknown Parameters and Uncertain Disturbances. Aerospace 2023, 10, 845.

Abstract

In this paper, the distributed formation tracking control problem of quadrotor unmanned aerial vehicles (UAVs) is considered. Adaptive backstepping technology is used to design flight control schemes for quadrotor UAVs. For the position subsystem, a distributed robust formation tracking control scheme is developed to achieve formation flight of quadrotor UAVs and track the desired flight trajectory. For the attitude subsystem, an adaptive disturbance rejection control scheme is proposed to achieve attitude stabilization during UAV flight under uncertain disturbances. Compared with the existing results, the novelty of this paper is that the proposed formation control scheme does not require the use of the quadrotor model parameters. Finally, a quadrotor UAV swarm system is used to verify the effectiveness of the proposed control scheme.

Keywords

unmanned aerial vehicles (UAV); formation tracking control; disturbance rejection; unknown parameters

Subject

Engineering, Aerospace Engineering

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