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Integrated Cooperative Control Scheme for Multiple Quadrotors Based on Improved Adaptive Disturbance Rejection Control
Han Du; Zhiqiang Pu; Jianqiang Yi
2016
会议名称2016 IEEE International Conference on Robotics and Biomimetics
会议录名称Proceedings of 2016 IEEE International Conference on Robotics and Biomimetics
会议日期Dec. 3 -Dec. 7, 2016
会议地点Qingdao, China
摘要This paper presents an integrated cooperative control scheme for multiple quadrotors. The design of cooperative control scheme mainly consists of the upper formation controller and the bottom trajectory tracking controller. Firstly the “leader-follower” formation model and the quadrotor dynamic model are established, with trajectory tacking errors, measurement errors and communication time delay concerned. On one hand, the extended state observer (ESO) is constructed to estimate and attenuate the disturbances for the formation controller. The communication time delay is handled with the specially designed improved adaptive disturbance rejection control (ADRC) law. On the other hand, the trajectory tracking controller is realized using double-loop control laws, which are the dynamic inversion (DI) law in the outer loop and back-stepping law in the inner loop. The stability of the closed-loop system is analyzed with the Lyapunov method. Finally, a series of simulations are conducted to validate the effectiveness of integrated cooperative control scheme.
关键词Multiple Quadrotors
收录类别EI
语种英语
文献类型会议论文
条目标识符http://ir.ia.ac.cn/handle/173211/12521
专题综合信息系统研究中心
通讯作者Zhiqiang Pu
推荐引用方式
GB/T 7714
Han Du,Zhiqiang Pu,Jianqiang Yi. Integrated Cooperative Control Scheme for Multiple Quadrotors Based on Improved Adaptive Disturbance Rejection Control[C],2016.
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