Regular Papers

International Journal of Control, Automation, and Systems 2024; 22(4): 1349-1359

https://doi.org/10.1007/s12555-022-1157-6

© The International Journal of Control, Automation, and Systems

Distributed Formation Control for Multiple Quadrotor UAVs Based on Distributed Estimator and Singular Perturbation System

Ning Li*, Hongbin Wang, Qianda Luo, and Wei Zheng

Yanshan University

Abstract

In this paper, the leader-follower distributed formation control of quadrotor unmanned aerial vehicles (UAVs) with communication constraints is studied, in which the leader’s information can only be obtained by one follower quadrotor UAV. To make every follower quadrotor UAV get the leader’s information, a distributed estimator was designed for each follower to estimate the leader’s information. Therefore, the requirements of communication topology can be reduced, and the accuracy and speed of formation control can be improved under the condition of reducing the communication of quadrotor UAVs. An improved integral sliding mode control protocol is provided by introducing a multi-time scale singularly perturbed system to ensure that follower quadrotor UAVs can keep a predetermined formation while tracking the desired trajectory. Then, the stability analysis of the proposed controller is conducted using singularly perturbed and Lyapunov theory. Simulation results of different formations show that multiple quadrotor UAVs can complete formation tasks efficiently and accurately.

Keywords Distributed estimator, distributed formation, quadrotor UAVs, singularly perturbed system.

Article

Regular Papers

International Journal of Control, Automation, and Systems 2024; 22(4): 1349-1359

Published online April 1, 2024 https://doi.org/10.1007/s12555-022-1157-6

Copyright © The International Journal of Control, Automation, and Systems.

Distributed Formation Control for Multiple Quadrotor UAVs Based on Distributed Estimator and Singular Perturbation System

Ning Li*, Hongbin Wang, Qianda Luo, and Wei Zheng

Yanshan University

Abstract

In this paper, the leader-follower distributed formation control of quadrotor unmanned aerial vehicles (UAVs) with communication constraints is studied, in which the leader’s information can only be obtained by one follower quadrotor UAV. To make every follower quadrotor UAV get the leader’s information, a distributed estimator was designed for each follower to estimate the leader’s information. Therefore, the requirements of communication topology can be reduced, and the accuracy and speed of formation control can be improved under the condition of reducing the communication of quadrotor UAVs. An improved integral sliding mode control protocol is provided by introducing a multi-time scale singularly perturbed system to ensure that follower quadrotor UAVs can keep a predetermined formation while tracking the desired trajectory. Then, the stability analysis of the proposed controller is conducted using singularly perturbed and Lyapunov theory. Simulation results of different formations show that multiple quadrotor UAVs can complete formation tasks efficiently and accurately.

Keywords: Distributed estimator, distributed formation, quadrotor UAVs, singularly perturbed system.

IJCAS
April 2024

Vol. 22, No. 4, pp. 1105~1460

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