Robust Formation Tracking Control for Multiple Quadrotors Subject to Switching Topologies
Hao Liu, Yanhu Wang, Frank L. Lewis, Kimon P. Valavanis
Abstract
This article focuses on formation control of multiagent systems composed of a team of quadrotors subject to switching topologies. The quadrotor model is underactuated and includes nonlinear dynamics, parameter uncertainties, and external disturbance. A robust control approach is proposed that consists of a position and an attitude controller, both consisting of two subsystems: the nominal controller that is designed to achieve desired tracking for the nominal system, and the disturbance estimating controller that restrains the influence of uncertainties on the real system. Theoretical foundations, detailed simulation studies, and experimental results validate the effectiveness of the proposed methodology.