Distributed Formation Control of Multirotors with Switching Topologies

摘要

This paper studies the distributed formation control of multirotors with directed and switching topologies. This paper transforms the formation control problem into an output agreement problem, and develops a class of distributed controllers with successive loops to achieve output agreement. For practical implementations, velocities and accelerations of the controlled multirotors are restricted within desired ranges by introducing appropriate saturations to the loops. It is proved that each controlled multirotor admits an invariant set property, and the formation control objective can be achieved if a mild joint connectivity condition is satisfied by the switching topology. Physical experiments are employed to verify the effectiveness of the proposed design.