Distributed Robust Synchronization Control of Multiple Heterogeneous Quadcopters with An Active Virtual Leader*

Imran, Imil Hamda and Montazeri, Allahyar (2022) Distributed Robust Synchronization Control of Multiple Heterogeneous Quadcopters with An Active Virtual Leader*. IFAC-PapersOnLine, 55 (10). pp. 2659-2664. ISSN 2405-8963

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Abstract

This paper studies leader-following synchronization control of a group of multiple quadrotor unmanned aerial systems (UASs). A robust distributed scheme is developed to maintain the attitude motions of UASs with an active virtual leader. Complicated settings are considered in the design, where the topology is in a directed graph, and only one or some agents are connected to the leader. UASs can have different dynamic parameters. Also, some time-varying disturbances are added to the closed-loop system. A control protocol containing a robust term is proposed to each UAS to achieve asymptotic consensus. A rigorous mathematical proof and numerical example are presented to demonstrate the effectiveness of our scheme.

Item Type:
Journal Article
Journal or Publication Title:
IFAC-PapersOnLine
Additional Information:
This is the author’s version of a work that was accepted for publication in IFAC-PapersOnLine. Changes resulting from the publishing process, such as peer review, editing, corrections, structural formatting, and other quality control mechanisms may not be reflected in this document. Changes may have been made to this work since it was submitted for publication. A definitive version was subsequently published in IFAC-PapersOnLine, 55, (10), 2022 DOI: 10.1016/j.ifacol.2022.10.111
Subjects:
ID Code:
179421
Deposited By:
Deposited On:
13 Dec 2022 14:10
Refereed?:
Yes
Published?:
Published
Last Modified:
16 Jan 2023 01:57