Practical consensus-based formation control for quadrotor systems
2022 INTERNATIONAL CONFERENCE ON UNMANNED AIRCRAFT SYSTEMS (ICUAS)(2022)
摘要
This paper presents a practical discrete-time consensus-based output-feedback formation control algorithm for quadrotors. A dynamic model is derived by approximating the behaviour of real on-board controllers via system identification, before assuming three decoupled systems to model the longitudinal, lateral and yaw motion. Consensus controllers are designed for all subsystems using discrete-time algebraic Riccati equations and parameter uncertainty theorems with observers suggested for systems without full state information. The performance of the proposed control approach is evaluated through a series of simulation studies and its benefits are shown with real experimental results.
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关键词
consensus controllers,control approach,decoupled systems,discrete-time algebraic Riccati equations,dynamic model,lateral motion,longitudinal motion,on-board controllers,practical consensus-based formation control,practical discrete-time consensus-based output-feedback formation control algorithm,quadrotor systems,system identification,yaw motion
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