Yang P, Zhang A, Bi W, Li M. Cooperative group formation control for multiple quadrotors system with finite- and fixed-time convergence.
ISA TRANSACTIONS 2023;
138:186-196. [PMID:
36997385 DOI:
10.1016/j.isatra.2023.03.029]
[Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Subscribe] [Scholar Register] [Received: 06/28/2022] [Revised: 03/07/2023] [Accepted: 03/18/2023] [Indexed: 06/16/2023]
Abstract
A multitude of quadrotors cooperatively executing complicated tasks in predefined geometric configurations has attracted arising attention. Accurate and effective formation control laws are essential for completing missions. Finite- and fixed-time group formation control problems for multiple quadrotors are researched in this paper. The quadrotors are first divided into M distinct and non-overlapping subgroups. In each subgroup, quadrotors are driven to form the predefined configuration, with the whole achieving M-group formation meanwhile. Two distributed algorithms for multiple quadrotors system are then designed to realize finite- and fixed-time group formation. Detailed and theoretical analysis of finite- and fixed-time group formation formability is conducted. Sufficient conditions are provided by utilizing the Lyapunov stability and bi-limit homogeneity theory. Two simulations are carried out to verify the effectiveness of proposed algorithms.
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