Rights statement: This is the author’s version of a work that was accepted for publication in IFAC-PapersOnLine. Changes resulting from the publishing process, such as peer review, editing, corrections, structural formatting, and other quality control mechanisms may not be reflected in this document. Changes may have been made to this work since it was submitted for publication. A definitive version was subsequently published in IFAC-PapersOnLine, 55, (10), 2022 DOI: 10.1016/j.ifacol.2022.10.111
Accepted author manuscript, 567 KB, PDF document
Available under license: CC BY-NC-ND: Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International License
Final published version
Research output: Contribution to Journal/Magazine › Journal article › peer-review
Research output: Contribution to Journal/Magazine › Journal article › peer-review
}
TY - JOUR
T1 - Distributed Robust Synchronization Control of Multiple Heterogeneous Quadcopters with An Active Virtual Leader*
AU - Imran, Imil Hamda
AU - Montazeri, Allahyar
N1 - This is the author’s version of a work that was accepted for publication in IFAC-PapersOnLine. Changes resulting from the publishing process, such as peer review, editing, corrections, structural formatting, and other quality control mechanisms may not be reflected in this document. Changes may have been made to this work since it was submitted for publication. A definitive version was subsequently published in IFAC-PapersOnLine, 55, (10), 2022 DOI: 10.1016/j.ifacol.2022.10.111
PY - 2022/10/26
Y1 - 2022/10/26
N2 - This paper studies leader-following synchronization control of a group of multiple quadrotor unmanned aerial systems (UASs). A robust distributed scheme is developed to maintain the attitude motions of UASs with an active virtual leader. Complicated settings are considered in the design, where the topology is in a directed graph, and only one or some agents are connected to the leader. UASs can have different dynamic parameters. Also, some time-varying disturbances are added to the closed-loop system. A control protocol containing a robust term is proposed to each UAS to achieve asymptotic consensus. A rigorous mathematical proof and numerical example are presented to demonstrate the effectiveness of our scheme.
AB - This paper studies leader-following synchronization control of a group of multiple quadrotor unmanned aerial systems (UASs). A robust distributed scheme is developed to maintain the attitude motions of UASs with an active virtual leader. Complicated settings are considered in the design, where the topology is in a directed graph, and only one or some agents are connected to the leader. UASs can have different dynamic parameters. Also, some time-varying disturbances are added to the closed-loop system. A control protocol containing a robust term is proposed to each UAS to achieve asymptotic consensus. A rigorous mathematical proof and numerical example are presented to demonstrate the effectiveness of our scheme.
KW - Quadrotor
KW - unmanned aerial systems (UASs)
KW - robust distributed scheme
KW - synchronization control
KW - leader-following
KW - consensus
KW - time-varying disturbance
U2 - 10.1016/j.ifacol.2022.10.111
DO - 10.1016/j.ifacol.2022.10.111
M3 - Journal article
VL - 55
SP - 2659
EP - 2664
JO - IFAC-PapersOnLine
JF - IFAC-PapersOnLine
SN - 2405-8963
IS - 10
ER -