Uncertainty and disturbance estimator-based robust region tracking control for multiple quadrotors

Qi Lu, Beibei Ren, Yuan Dong Ji

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

Abstract

In this paper, the decentralized uncertainty and disturbance estimator (UDE)-based robust region reaching controller is developed to drive a swarm of quadrotors with the full degrees-of-freedom, nonlinear, coupled and underactuated dynamics to track the trajectory of a moving target region while avoiding collisions among themselves. The backstepping technique is utilized to seamlessly fuse the UDE into the region reaching control framework with the function of estimating and compensating the model uncertainties and external disturbances. Simulation studies are carried out to demonstrate the effectiveness of the proposed method for achieving the moving target trajectory tracking even in the presence of external disturbances.

Original languageEnglish
Title of host publicationIntelligent Transportation/Vehicles; Manufacturing; Mechatronics; Engine/After-Treatment Systems; Soft Actuators/Manipulators; Modeling/Validation; Motion/Vibration Control Applications; Multi-Agent/Networked Systems; Path Planning/Motion Control; Renewable/Smart Energy Systems; Security/Privacy of Cyber-Physical Systems; Sensors/Actuators; Tracking Control Systems; Unmanned Ground/Aerial Vehicles; Vehicle Dynamics, Estimation, Control; Vibration/Control Systems; Vibrations
PublisherAmerican Society of Mechanical Engineers
ISBN (Electronic)9780791884287
DOIs
StatePublished - 2020
EventASME 2020 Dynamic Systems and Control Conference, DSCC 2020 - Virtual, Online
Duration: Oct 5 2020Oct 7 2020

Publication series

NameASME 2020 Dynamic Systems and Control Conference, DSCC 2020
Volume2

Conference

ConferenceASME 2020 Dynamic Systems and Control Conference, DSCC 2020
CityVirtual, Online
Period10/5/2010/7/20

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