Flatness-based finite-time leader-follower formation control of multiple quadrotors with external disturbances

摘要

This study considers the leader-follower formation control problem for multiple quadrotors in the presence of external disturbances. Based on the differential flatness theory, the underactuated quadrotor system is transformed into a fully actuated one with four degrees of freedom and four control inputs. Based on this model, a distributed finite-time observer is developed to reconstruct the leader's states for each follower. Then, an observer-based finite-time controller is proposed based on an adaptive disturbance rejection approach, which is independent of the upper bounds of the disturbances, to address the formation control problem for multiple quadrotors. The stability analysis indicates that the closed-loop system theoretically achieves the finite-time stability and robustness against the disturbances. Finally, a numerical simulation is provided to verify the performance of the proposed formation control scheme. (C) 2019 Elsevier Masson SAS. All rights reserved.