TY - GEN
T1 - Uncertainty and disturbance estimator-based robust region tracking control for multiple quadrotors
AU - Lu, Qi
AU - Ren, Beibei
AU - Ji, Yuan Dong
N1 - Publisher Copyright:
Copyright © 2020 ASME.
PY - 2020
Y1 - 2020
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=85100932041&partnerID=8YFLogxK
U2 - 10.1115/DSCC2020-3308
DO - 10.1115/DSCC2020-3308
M3 - Conference contribution
AN - SCOPUS:85100932041
T3 - ASME 2020 Dynamic Systems and Control Conference, DSCC 2020
BT - Intelligent 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
PB - American Society of Mechanical Engineers
Y2 - 5 October 2020 through 7 October 2020
ER -