Distributed Robust Formation Control of Heterogeneous Multi-UAVs with Disturbance Rejection

Date

2024-01-01

Author

Imran, Imil Hamda
Kurtuluş, Dilek Funda
Memon, Azhar M.
Goli, Srikanth
Kouser, Taiba
Alhems, Luai Muhammad

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This work is licensed under a Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International License.

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This paper investigates the formation control of multiple heterogeneous quadrotor unmanned aerial vehicles (UAVs). The research focuses on developing a distributed robust formation control strategy to effectively manage the translational and attitude motions of the UAVs utilizing an active virtual leader. The communication of each agent in a connected environment is represented by a directed graph. To align with real applications, only a minimum of one agent is required to connect with the leader. The challenge associated with controlling systems is more complicated by the inherent heterogeneity of UAVs, characterized by variations in their model parameters and the presence of external disturbances in the system dynamics. A robust term is proposed to handle time-varying disturbances added to the closed-loop systems. A comprehensive mathematical proof and numerical illustrations are provided to validate the efficacy of the proposed formation control strategy.

Subject Keywords

Autonomous aerial vehicles, Collaboration, distributed robust control, external disturbances, formation control, Formation control, Protocols, quadrotor, Quadrotors, Robust control, Uncertainty, unmanned aerial vehicles

URI

https://hdl.handle.net/11511/109758

Collections

Department of Aerospace Engineering, Article