Distributed adaptive containment control for a group of aerial robots with external disturbances

A novel distributed containment control for multiple quadrotor agents under a fixed topology graph is addressed in this paper. There are two layers in the containment control problem. Communication graph, information of leaders, and neighbors of each follower are used to determine the desired trajec...

Full description

Saved in:
Bibliographic Details
Published in:Asian journal of control 2022-11, Vol.24 (6), p.3133-3148
Main Authors: Arab, Farhad, Shirazi, Farzad A., Hairi Yazdi, Mohammad Reza
Format: Article
Language:English
Subjects:
Adaptive algorithms
Adaptive control
Containment
containment control
Control algorithms
Control theory
distributed control
Disturbances
estimation
multiagent
Subsystems
Topology
Tracking control
Trajectory control
Citations: Items that this one cites
Items that cite this one
Online Access:Get full text
Tags: Add Tag
No Tags, Be the first to tag this record!
Description
Summary:A novel distributed containment control for multiple quadrotor agents under a fixed topology graph is addressed in this paper. There are two layers in the containment control problem. Communication graph, information of leaders, and neighbors of each follower are used to determine the desired trajectory for followers in the first layer. In the second layer, each follower should use the information of itself and its neighbors to follow the desired trajectory. The tracking control algorithm of followers has two subsystems with a cascade structure: the translational and the rotational dynamics of the agents. The distributed containment controller is utilized for the outer‐loop to track the desired trajectory based on the invariance and immersion adaptive control in order to compensate the external disturbances. For the inner loop, an adaptive control algorithm is designed to follow the desired attitudes obtained from the translational dynamics. In the end, the simulation results are provided for three scenarios to verify the performance of the presented control scheme in the presence of the external disturbances.
ISSN:1561-8625
1934-6093
DOI:10.1002/asjc.2736