A novel cooperative control algorithm is proposed for the enclosing problem of multiple quadrotors with a ground target based on passivity theory. The whole control system can be decoupled into the position control subsystem and the attitude control subsystem. For the position control, a distributed controller is designed by using the relative position information from each quadrotor to the target and its neighbors. the desired acceleration vector of each quadrotor is obtained and converted to desired attitude command. Then, the attitude error subsystem of each quadrotor is stabilized by individual controller. Furthermore, the stability of the whole system is guaranteed through the interconnected structure and passive nature of the position and attitude subsystem. Finally, simulation results of the target enclosing verify the superiority and robustness of the proposed control method.
A Novel Cooperative Target-Enclosing Control for Multiple Quadrotor UAVs via Passivity-Based Approach
Lect. Notes Electrical Eng.
Proceedings of 2021 5th Chinese Conference on Swarm Intelligence and Cooperative Control ; Kapitel : 128 ; 1365-1376
29.07.2022
12 pages
Aufsatz/Kapitel (Buch)
Elektronische Ressource
Englisch
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