反推
控制理论(社会学)
弹道
碰撞
跟踪(教育)
避碰
李雅普诺夫函数
控制器(灌溉)
非线性系统
计算机科学
集合(抽象数据类型)
控制工程
控制(管理)
工程类
自适应控制
人工智能
物理
心理学
教育学
计算机安全
天文
量子力学
农学
生物
程序设计语言
作者
Wei Xie,Gan Yu,David Cabecinhas,Carlos Silvestre,Guoqing Zhang,Wei He
标识
DOI:10.1016/j.conengprac.2024.105842
摘要
This paper addresses the problem of formation control of multiple quadrotor vehicles, focusing on ensuring inter-vehicle collision avoidance in the presence of time-varying external disturbances. The problem is divided into two sub-problems: (i) the generation of collision-free trajectories; and (ii) trajectory tracking. Initially, by employing the Lyapunov-based backstepping technique, a set of collision-free trajectories is generated based on a potential function. Additionally, a trajectory tracking controller is developed for each individual quadrotor, ensuring accurate tracking of their respective trajectories. Furthermore, to attain robust tracking performance, nonlinear disturbance observers are developed and incorporated into the control inputs to compensate for time-varying external disturbances. Comprehensive simulation and experimental results are provided and analyzed to demonstrate the effectiveness and performance of the proposed strategy.
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