Integrated Cooperative Control Scheme for Multiple Quadrotors Based on Improved Adaptive Disturbance Rejection Control
文献类型：会议论文
| 作者 | Han Du ; Zhiqiang Pu; Jianqiang Yi
|
| 出版日期 | 2016 |
| 会议日期 | Dec. 3 -Dec. 7, 2016 |
| 会议地点 | Qingdao, China |
| 关键词 | Multiple Quadrotors |
| 英文摘要 | This paper presents an integrated cooperative control scheme for multiple quadrotors. The design of cooperative control scheme mainly consists of the upper formation controller and the bottom trajectory tracking controller. Firstly the “leader-follower” formation model and the quadrotor dynamic model are established, with trajectory tacking errors, measurement errors and communication time delay concerned. On one hand, the extended state observer (ESO) is constructed to estimate and attenuate the disturbances for the formation controller. The communication time delay is handled with the specially designed improved adaptive disturbance rejection control (ADRC) law. On the other hand, the trajectory tracking controller is realized using double-loop control laws, which are the dynamic inversion (DI) law in the outer loop and back-stepping law in the inner loop. The stability of the closed-loop system is analyzed with the Lyapunov method. Finally, a series of simulations are conducted to validate the effectiveness of integrated cooperative control scheme. |
| 会议录 | Proceedings of 2016 IEEE International Conference on Robotics and Biomimetics
 |
| 语种 | 英语 |
| 源URL | [http://ir.ia.ac.cn/handle/173211/12521]  |
| 专题 | 自动化研究所_综合信息系统研究中心 |
| 通讯作者 | Zhiqiang Pu |
| 推荐引用方式 GB/T 7714 | Han Du,Zhiqiang Pu,Jianqiang Yi. Integrated Cooperative Control Scheme for Multiple Quadrotors Based on Improved Adaptive Disturbance Rejection Control[C]. 见:. Qingdao, China. Dec. 3 -Dec. 7, 2016. |
入库方式： OAI收割
来源：自动化研究所
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