Fully Distributed Time-Varying Formation Control of Quadrotors
Lecture Notes in Electrical EngineeringAdvances in Guidance, Navigation and Control(2023)
摘要
This paper centers on addressing the fully distributed formation control (FDFC) problem for multiple micro quadrotors to practically perform time-varying formation trajectory tracking flight. The quadrotor model is considered as a nonlinear underactuated system, being influenced by the effects of couplings, parameter variations and environmental uncertainties. A fully distributed formation control law is designed, with local information of the networked quadrotor system. Experimental results for a micro quadrotor team validates the stability and superiority of the proposed control law.
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关键词
formation control,time-varying
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