Uncertainty and Disturbance Estimator-Based Robust Region Tracking Control for Multiple Quadrotors

IF 1 Q4 AUTOMATION & CONTROL SYSTEMS

Mechatronic Systems and Control Pub Date : 2020-10-05 DOI:10.1115/DSCC2020-3308

Qi Lu, B. Ren, Yuan-dong Ji

引用次数: 0

Abstract

In this paper, the decentralized uncertainty and disturbance estimator (UDE)-based robust region reaching controller is developed to drive a swarm of quadrotors with the full degrees-of-freedom, nonlinear, coupled and underactuated dynamics to track the trajectory of a moving target region while avoiding collisions among themselves. The backstepping technique is utilized to seamlessly fuse the UDE into the region reaching control framework with the function of estimating and compensating the model uncertainties and external disturbances. Simulation studies are carried out to demonstrate the effectiveness of the proposed method for achieving the moving target trajectory tracking even in the presence of external disturbances.

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基于不确定性和干扰估计的多四旋翼鲁棒区域跟踪控制

本文提出了一种基于分散不确定性和扰动估计(UDE)的鲁棒区域到达控制器，用于驱动一群具有全自由度、非线性、耦合和欠驱动的四旋翼飞行器在运动目标区域内跟踪轨迹，同时避免它们之间的碰撞。利用反演技术，将仿真模型无缝融合到具有估计和补偿模型不确定性和外部干扰功能的区域到达控制框架中。仿真研究表明，该方法在存在外界干扰的情况下仍能有效地实现运动目标的轨迹跟踪。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

Mechatronic Systems and Control AUTOMATION & CONTROL SYSTEMS-

CiteScore

1.40

自引率

66.70%

发文量

期刊介绍： This international journal publishes both theoretical and application-oriented papers on various aspects of mechatronic systems, modelling, design, conventional and intelligent control, and intelligent systems. Application areas of mechatronics may include robotics, transportation, energy systems, manufacturing, sensors, actuators, and automation. Techniques of artificial intelligence may include soft computing (fuzzy logic, neural networks, genetic algorithms/evolutionary computing, probabilistic methods, etc.). Techniques may cover frequency and time domains, linear and nonlinear systems, and deterministic and stochastic processes. Hybrid techniques of mechatronics that combine conventional and intelligent methods are also included. First published in 1972, this journal originated with an emphasis on conventional control systems and computer-based applications. Subsequently, with rapid advances in the field and in view of the widespread interest and application of soft computing in control systems, this latter aspect was integrated into the journal. Now the area of mechatronics is included as the main focus. A unique feature of the journal is its pioneering role in bridging the gap between conventional systems and intelligent systems, with an equal emphasis on theory and practical applications, including system modelling, design and instrumentation. It appears four times per year.